Positioning precision analysis method and system of infrared detection equipment and storage medium

Abstract

The invention discloses a positioning precision analysis method and system for infrared detection equipment, and a storage medium. The method comprises the following steps: calculating spherical coordinate truth values of a detection object relative to the infrared detection equipment at different moments according to geographic position information of the detection object and geographic position information of the infrared detection equipment in a preset time period; acquiring an angle coordinate measurement value of each measurement timestamp within a preset time period acquired by the infrared detection equipment; calculating angle coordinate truth values corresponding to the measurement timestamps according to the spherical coordinate truth values at different moments; based on the angle coordinate error corresponding to each measurement timestamp, screening an angle coordinate measurement value and an angle coordinate true value which meet conditions; and calculating an angle coordinate root mean square error according to the screened angle coordinate measured value and the angle coordinate true value, and determining a positioning precision analysis result of the infrared detection equipment. According to the method, the positioning precision is rapidly analyzed through data of multiple sampling points, the test data analysis workload is reduced, and the development efficiency of the infrared detection equipment is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of precision analysis technology, and in particular to a method, system and storage medium for analyzing the positioning precision of an infrared detection device. Background Technology

[0002] Infrared detection equipment, as a passive sensor, inherently possesses the advantage of electromagnetic silence as it does not radiate energy outwards. It also boasts high-precision angle measurement capabilities. However, the development cycle of infrared detection equipment requires multiple accuracy tests on its output data. Currently, the positioning accuracy analysis of infrared detection equipment necessitates specialized technicians to operate and analyze each set of collected data, increasing both labor and time costs. Therefore, how to quickly analyze the positioning accuracy of infrared detection equipment, thereby improving the development efficiency, has become a pressing issue.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a method, system, and storage medium for analyzing the positioning accuracy of infrared detection equipment, aiming to address the technical problem of how to quickly analyze the positioning accuracy of infrared detection equipment and thereby improve the development efficiency of infrared detection equipment.

[0005] To achieve the above objectives, the present invention provides a method for analyzing the positioning accuracy of an infrared detection device, the method comprising: The true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times are calculated based on the geographical location information of the object and the geographical location information of the infrared detection device within a preset time period. Obtain the angular coordinate measurement values ​​of each measurement timestamp within the preset time period collected by the infrared detection device; Calculate the true values ​​of the angle coordinates corresponding to each measurement timestamp based on the true values ​​of the spherical coordinates at different times; Calculate the angle coordinate error corresponding to each measurement timestamp based on the measured angle coordinate value and the true angle coordinate value; Based on the angle coordinate error corresponding to each measurement timestamp, the angle coordinate measurement values ​​and the true angle coordinate values ​​that meet the conditions are selected. The root mean square error of the angle coordinates is calculated based on the selected angle coordinate measurements and the true angle coordinate values ​​to determine the positioning accuracy analysis results of the infrared detection device.

[0006] Optionally, before calculating the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object within a preset time period and the geographical location information of the infrared detection device, the following steps are included: Determine the location status information of the object to be detected and the infrared detection equipment within a preset time period; Based on the location status information, obtain the geographical location information of the detected object and the geographical location information of the infrared detection device within the preset time period.

[0007] Optionally, obtaining the geographic location information of the detected object and the geographic location information of the infrared detection device within the preset time period based on the location status information includes: When the location status information indicates that the positions of the detected object and the infrared detection device change over time, it is determined whether the GPS sampling rates of the detected object and the infrared detection device are consistent. If they are inconsistent, the geographic location information of the object to be processed at each time stamp and the geographic location information of the infrared detection device at each time stamp are collected within the preset time period. Extract the geographic location information of the detected object based on the previous and next timestamps of the current timestamp of the infrared detection device from the geographic location information to be processed under each timestamp; The geographic location information of the object under the current timestamp of the infrared detection device is calculated based on the geographic location information to be processed at the previous timestamp and the geographic location information to be processed at the next timestamp, and is used as the geographic location information of the object.

[0008] Optionally, the step of calculating the true spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object within a preset time period and the geographical location information of the infrared detection device includes: Based on the geographical location information of the object being detected within a preset time period, calculate the longitude, latitude, and height data of the object at different times. Based on the geographical location information of the infrared detection device within the preset time period, calculate the longitude, latitude, and height data of the infrared detection device at different times using the angle-to-radian formula. The normal radius of curvature of the first ellipsoid and the normal radius of curvature of the second ellipsoid are calculated based on the latitude radian data of the infrared detection device and the latitude radian data of the object being detected, respectively. The three-dimensional coordinate data of the device are calculated based on the normal radius of curvature of the first ellipsoid, the longitude radian data, latitude radian data, and height data of the infrared detection device, and the three-dimensional coordinate data of the object are calculated based on the normal radius of curvature of the second ellipsoid, the longitude radian data, latitude radian data, and height data of the object being detected. The coordinate transformation matrix is ​​obtained based on the latitude and longitude data of the infrared detection device; The true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times are calculated based on the coordinate transformation matrix, the three-dimensional coordinate data of the device, and the three-dimensional coordinate data of the object.

[0009] Optionally, the step of calculating the true angular coordinates corresponding to each measurement timestamp based on the true spherical coordinates at different times includes: Select the true spherical coordinates of the previous and next times corresponding to each measurement timestamp from the true spherical coordinates at different times. Calculate the true angle coordinates corresponding to each measurement timestamp based on the true spherical coordinates of the previous and subsequent times.

[0010] Optionally, the step of filtering the qualified angle coordinate measurements and true angle coordinates based on the angle coordinate errors corresponding to each measurement timestamp includes: The angular coordinate error includes azimuth error and pitch error; For any measurement timestamp, if both the azimuth error and elevation error meet the corresponding preset gate threshold conditions, then the angle coordinate measurement value corresponding to that measurement timestamp is selected. Based on the angle coordinate measurements of each filter, the true angle coordinate values ​​under the corresponding measurement timestamp are filtered from the true angle coordinate values ​​of each measurement timestamp.

[0011] Optionally, both the azimuth error and the pitch error satisfy corresponding preset gate threshold conditions, including: The absolute value of the azimuth error is less than the preset azimuth gate threshold, and the absolute value of the pitch error is less than the preset pitch gate threshold.

[0012] Furthermore, to achieve the above objectives, the present invention also proposes a positioning accuracy analysis system for infrared detection equipment, the positioning accuracy analysis system for infrared detection equipment comprising: The acquisition module is used to calculate the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object and the geographical location information of the infrared detection device within a preset time period. The acquisition module is also used to acquire the angular coordinate measurement values ​​of each measurement timestamp within the preset time period acquired by the infrared detection device; The calculation module is used to calculate the true value of the angle coordinates corresponding to each measurement timestamp based on the true value of the spherical coordinates at different times; The calculation module is used to calculate the angle coordinate error corresponding to each measurement timestamp based on the measured angle coordinate value and the true angle coordinate value. The selection module is used to filter the measured angle coordinate values ​​and true angle coordinate values ​​that meet the conditions based on the angle coordinate errors corresponding to each measurement timestamp. The determination module is used to calculate the root mean square error of the angle coordinates based on the selected angle coordinate measurements and the true angle coordinates, and to determine the positioning accuracy analysis result of the infrared detection device.

[0013] Furthermore, to achieve the above objectives, the present invention also proposes a positioning accuracy analysis device for an infrared detection device, the device comprising: a memory, a processor, and a positioning accuracy analysis program for the infrared detection device stored in the memory and executable on the processor, the positioning accuracy analysis program for the infrared detection device being configured to implement the steps of the positioning accuracy analysis method for the infrared detection device as described above.

[0014] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a positioning accuracy analysis program for an infrared detection device, wherein when the positioning accuracy analysis program for the infrared detection device is executed by a processor, the program implements the steps of the positioning accuracy analysis method for the infrared detection device as described above.

[0015] This invention first calculates the true spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object and the infrared detection device within a preset time period. It then obtains the angular coordinate measurements at each measurement time point collected by the infrared detection device within the preset time period. Next, it calculates the true angular coordinates corresponding to each measurement time point based on the true spherical coordinates at different times, and calculates the angular coordinate error corresponding to each measurement time point based on the angular coordinate measurements and the true angular coordinates. Finally, based on the angular coordinate errors corresponding to each measurement time point, it filters out qualified angular coordinate measurements and true angular coordinates, and calculates the root mean square error of the angular coordinates based on the filtered angular coordinate measurements and true angular coordinates to determine the positioning accuracy analysis result of the infrared detection device. Compared to existing technologies, the positioning accuracy analysis process of infrared detection devices requires professional technicians to operate and analyze each set of collected data, resulting in a long testing cycle and increased labor and time costs. This invention performs error analysis on the measured data and calculated true values, selects multiple sampling point data, and quickly analyzes the positioning accuracy using the selected multiple sampling point data, reducing the workload of testing data analysis for the infrared detection device and the object, and effectively improving the development efficiency of the equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the positioning accuracy analysis device of the infrared detection equipment in the hardware operating environment involved in the embodiments of the present invention; Figure 2 This is a flowchart illustrating the first embodiment of the positioning accuracy analysis method for the infrared detection device of the present invention. Figure 3 This is a diagram showing the azimuth error curve of the first embodiment of the positioning accuracy analysis method for the infrared detection device of the present invention. Figure 4 This is a pitch error curve diagram of the first embodiment of the positioning accuracy analysis method for the infrared detection device of the present invention; Figure 5 This is a structural block diagram of the first embodiment of the positioning accuracy analysis system for the infrared detection device of the present invention.

[0017] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0019] Reference Figure 1 , Figure 1 This is a schematic diagram of the positioning accuracy analysis device of the infrared detection equipment in the hardware operating environment involved in the embodiments of the present invention.

[0020] like Figure 1 As shown, the positioning accuracy analysis device of the infrared detection equipment may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. Optionally, the memory 1005 may also be a storage system independent of the aforementioned processor 1001.

[0021] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the positioning accuracy analysis device for infrared detection equipment. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0022] like Figure 1As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a positioning accuracy analysis program for infrared detection equipment.

[0023] exist Figure 1 In the positioning accuracy analysis device of the infrared detection device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the positioning accuracy analysis device of the infrared detection device of the present invention can be set in the positioning accuracy analysis device of the infrared detection device. The positioning accuracy analysis device of the infrared detection device calls the positioning accuracy analysis program of the infrared detection device stored in the memory 1005 through the processor 1001 and executes the positioning accuracy analysis method of the infrared detection device provided in the embodiment of the present invention.

[0024] This invention provides a method for analyzing the positioning accuracy of an infrared detection device, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the positioning accuracy analysis method for the infrared detection device of the present invention.

[0025] In this embodiment, the positioning accuracy analysis method of the infrared detection device includes the following steps: Step S10: Calculate the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object within a preset time period and the geographical location information of the infrared detection device.

[0026] It is easy to understand that the execution subject of this embodiment can be a positioning accuracy analysis system of an infrared detection device with functions such as data processing, network communication and program execution, or other computer devices with similar functions. This embodiment does not limit it.

[0027] It should be noted that the object to be detected is a target that can be detected by the infrared detection device. This target can be fixed or moving.

[0028] The geographic location information of the object to be detected is the latitude, longitude, and altitude (tgtLon, tgtLat, tgtH). The geographic location information of the infrared detection equipment is the latitude, longitude, and altitude (sensorLon, sensorLat, sensorH) of the array or sensor.

[0029] In the specific implementation, it is also necessary to determine the location status information of the object to be detected and the infrared detection device within a preset time period, and obtain the geographical location information of the object to be detected and the geographical location information of the infrared detection device within the preset time period based on the location status information.

[0030] The geographic location information of the detected object within the preset time period is the geographic location information collected by the detected object through the built-in Global Positioning System (GPS) within the preset time period according to the preset sampling rate. Both the preset sampling rate and the preset time period are user-defined settings. The geographic location information of the infrared detection device within the preset time period is the geographic location information collected by the infrared detection device through the built-in GPS within the preset time period according to the preset sampling rate. Both the preset sampling rate and the preset time period are also user-defined settings.

[0031] It should also be noted that the preset sampling rate of the GPS of the object being detected and the preset sampling rate of the GPS of the infrared detection device can be the same or different.

[0032] In this embodiment, if the location status information is that the position of the infrared detection device is fixed and the position of the object to be detected changes over time, then the geographical location information collected by the object to be detected within a preset time period using the built-in GPS at a preset sampling rate is made so that the timestamp corresponding to the fixed geographical location information of the infrared detection device is consistent with the timestamp of the geographical location information collected by the object to be detected.

[0033] When the location status information indicates that the positions of both the object being detected and the infrared detection device change over time, it is determined whether the GPS sampling rates of the object being detected and the infrared detection device are consistent. If they are consistent, the geographical location information corresponding to the same timestamp of the object being detected and the infrared detection device within a preset time period is obtained. If they are inconsistent, the geographical location information to be processed of the object being detected at each timestamp and the geographical location information of the infrared detection device at each timestamp are collected within the preset time period. From the geographical location information to be processed at each timestamp, the geographical location information to be processed of the object being detected based on the previous timestamp and the next timestamp based on the current timestamp of the infrared detection device are extracted. Based on the geographical location information to be processed at the previous timestamp and the next timestamp, the geographical location information of the object being detected at the current timestamp of the infrared detection device is calculated and used as the geographical location information of the object being detected.

[0034] In the specific implementation, when array B (i.e., the infrared detection device) is a fixed point, and the latitude and longitude of target A (i.e., the object being detected) change over time, the geographical location information of A is obtained, and the geographical location information of B at the corresponding timestamp point of A is also obtained. When the latitude and longitude of array B and target A change over time, if the GPS sampling rates of the two are consistent, the geographical location information of A and B at the same timestamp point is obtained by comparing the time consistency. If the GPS sampling rates of the two are inconsistent, the geographical location information of B is obtained, and the geographical location information of A is interpolated to obtain the geographical location information of A at the corresponding timestamp point of B.

[0035] The interpolation process is as follows: the latitude and longitude of array B at time stamp Tb is (sensorLon b,sensorLat b ,sensorH b If Tb timestamp is the current timestamp, then target A is in T... a1 Latitude and longitude (tgtLon) obtained from the timestamp a1 ,tgtLat a1 ,tgtH a1 ), Target A in T a2 Latitude and longitude (tgtLon) obtained from the timestamp a2 ,tgtLat a2 ,tgtH a2 If there is T a1 <T b <T a2 Then T a1 The latitude and longitude obtained at the timestamp point are the geographic location information to be processed from the previous timestamp, T a2 The latitude and longitude obtained at the timestamp point are the geographic location information to be processed at the next timestamp, in T b The latitude, longitude, and altitude of target A at any given time (i.e., the geographical location of the object under the current timestamp of the infrared detection device) is (tgtLon b ,tgtLat b ,tgtH b ).

[0036]

[0037]

[0038]

[0039] It should also be noted that the method for calculating the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times, based on the geographical location information of the object within the preset time period and the geographical location information of the infrared detection device, is as follows: The longitude, latitude, and height data of the object at different times are calculated based on the geographical location information of the object within the preset time period; the longitude, latitude, and height data of the infrared detection device at different times are calculated using the angle-to-radian formula based on the geographical location information of the infrared detection device within the preset time period; and the normal curvature half of the first ellipsoid is calculated based on the latitude data of the infrared detection device and the latitude data of the object. The radius of curvature of the first ellipsoid and the normal radius of curvature of the second ellipsoid are calculated. Based on the normal radius of curvature of the first ellipsoid, the longitude, latitude, and altitude data of the infrared detection device, the three-dimensional coordinate data of the device are calculated. Based on the normal radius of curvature of the second ellipsoid, the longitude, latitude, and altitude data of the object being detected are calculated. A coordinate transformation matrix is ​​obtained based on the latitude and longitude data of the infrared detection device. Based on the coordinate transformation matrix, the three-dimensional coordinate data of the device, and the three-dimensional coordinate data of the object, the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times are calculated. These true values ​​include the true values ​​of azimuth, elevation, and distance.

[0040] In the specific implementation, at the same timestamp, target A has latitude, longitude and altitude (tgtLon, tgtLat, tgtH), array B has latitude, longitude and altitude (sensorLon, sensorLat, sensorH), Earth radius R, and correction parameter e is 0.0818; B0 = sensorLat π / 180 L0 = sensorLon π / 180 H0 = sensorH In the formula, B0 is the latitude angle converted to radians of array B (i.e., the latitude radian data of the infrared detection device), L0 is the longitude angle converted to radians of array B (i.e., the longitude radian data of the infrared detection device), and H0 is the height of array B (i.e., the height data of the infrared detection device).

[0041] B1 =tgtLat π / 180 L1 =tgtLon π / 180 H1 = tgtH In the formula, B1 is the latitude angle of target A converted to radians (i.e., the latitude radian data of the object being detected), L1 is the longitude angle of target A converted to radians (i.e., the longitude radian data of the object being detected), and H1 is the height of target A (i.e., the height data of the object being detected).

[0042]

[0043]

[0044] In the formula, N0 is the normal radius of curvature of array B based on the ellipsoid (i.e., the Earth) (i.e., the normal radius of curvature of the first ellipsoid), and N1 is the normal radius of curvature of target A based on the ellipsoid (i.e., the normal radius of curvature of the second ellipsoid).

[0045] X0(1) = (N0+H0) cos(B0) cos(L0) X0(2) = (N0+H0) cos(B0) sin(L0) X0(3) = ((N0) (1-e e)+H0) sin(B0) In the formula, X0(1) is the coordinate x of array B in three-dimensional space, X0(2) is the coordinate y of array B in three-dimensional space, and X0(3) is the coordinate z of array B in three-dimensional space.

[0046] It should also be noted that X0(1), X0(2) and X0(3) are the three-dimensional coordinate data of the device.

[0047] X1(1) = (N1+H1) cos(B1) cos(L1) X1(2) = (N1+H1) cos(B1) sin(L1) X1(3) = ((N1) (1-e e)+H1) sin(B1) In the formula, X1(1) is the x coordinate of target A in three-dimensional space, X1(2) is the y coordinate of target A in three-dimensional space, and X1(3) is the z coordinate of target A in three-dimensional space.

[0048] It should also be noted that X1(1), X1(2) and X1(3) are the three-dimensional coordinate data of the object.

[0049]

[0050] In the formula, Tb is the coordinate transformation matrix, which is used to convert global coordinates into local coordinates.

[0051] DX = Tb (X1 - X0) T

[0052]

[0053]

[0054] Where, DX is the vector difference between target A and array B, az is the true azimuth of target A relative to array B, el is the true elevation of target A relative to array B, and dis is the true distance of target A relative to array B.

[0055] Step S20: Obtain the angular coordinate measurement values at each measurement timestamp within the preset period collected by the infrared detection device.

[0056] It should be noted that the angular coordinate measurement values include azimuth measurement values and elevation measurement values.

[0057] Step S30: Calculate the angular coordinate true values corresponding to each measurement timestamp according to the spherical coordinate true values at different times.

[0058] It should also be understood that the sampling rate of the timestamp of the measurement value (i.e., the measurement timestamp) is inconsistent with the sampling rate of the true value. It is necessary to perform interpolation processing on the true value based on the timestamp of the measurement value to obtain the angular coordinate true values corresponding to each measurement timestamp.

[0059] The processing method for calculating the angular coordinate true values corresponding to each measurement timestamp according to the spherical coordinate true values at different times is as follows: select the spherical coordinate true value at the previous moment and the spherical coordinate true value at the next moment corresponding to each measurement timestamp from the spherical coordinate true values at different times; calculate the angular coordinate true values corresponding to each measurement timestamp according to the spherical coordinate true value at the previous moment and the spherical coordinate true value at the next moment respectively.

[0060] In a specific implementation, if the azimuth measurement value and elevation measurement value of target A at time t0 are M azi0 and M ele0 , the azimuth true value and elevation true value of target A at time t1 are R azi1 and R ele1 , the azimuth true value and elevation true value of the target at time t2 are R azi2 and R ele2 , and t1 < t0 < t2, then the azimuth true value and elevation true value R azi0 and R ele0 corresponding to the point at time t0 can be calculated.

[0061]

[0062]

[0063] Step S40: Calculate the angle coordinate error corresponding to each measurement timestamp based on the measured angle coordinate value and the true angle coordinate value.

[0064] In the specific implementation, the angular coordinate error of each measurement timestamp is calculated. The angular coordinate error includes the azimuth error AziErr and the pitch error EleErr.

[0065] AziErr= M azi0 - R azi0 EleErr = M ele0 - R ele0 Step S50: Based on the angle coordinate error corresponding to each measurement timestamp, filter the angle coordinate measurement values ​​and angle coordinate true values ​​that meet the conditions.

[0066] The conditions include preset gate threshold conditions corresponding to azimuth error and pitch error, respectively. Meeting the preset gate threshold condition for azimuth error means that the absolute value of the azimuth error is less than the preset pitch gate threshold (i.e., the preset azimuth gate threshold). Meeting the preset gate threshold condition for pitch error means that the absolute value of the pitch error is less than the preset pitch gate threshold (i.e., the preset pitch gate threshold). These preset azimuth gate thresholds and preset pitch gate thresholds can be customized by the user.

[0067] Angular coordinate errors include azimuth error and pitch error. For any measurement timestamp, if both azimuth error and pitch error meet the corresponding preset gate threshold conditions (i.e., the absolute value of the azimuth error is less than the preset azimuth gate threshold, and the absolute value of the pitch error is less than the preset pitch gate threshold), then the angular coordinate measurement values ​​corresponding to that measurement timestamp are filtered. The angular coordinate true values ​​of each filtered angular measurement value are selected from the angular coordinate true values ​​of each measurement timestamp. The angular coordinate measurement values ​​include azimuth measurement values ​​and pitch measurement values, and the angular coordinate true values ​​include azimuth true values ​​and pitch true values.

[0068] In specific implementation, when (a is the preset azimuth gate threshold) and When (b is the preset pitch gate threshold), the corresponding angle coordinate measurement value is selected.

[0069] Step S60: Calculate the root mean square error of the angle coordinates based on the selected angle coordinate measurements and the true angle coordinates, and determine the positioning accuracy analysis result of the infrared detection device.

[0070] The root mean square error of azimuth is calculated based on multiple azimuth measurements and the true azimuth values ​​under the corresponding measurement timestamps, and the root mean square error of pitch is calculated based on multiple pitch measurements and the true pitch values ​​under the corresponding measurement timestamps.

[0071] In the specific implementation, refer to Figure 3 and Figure 4 , Figure 3 This is a diagram showing the azimuth error curve of the first embodiment of the positioning accuracy analysis method for the infrared detection device of the present invention. Figure 4 The elevation error curve is shown in the first embodiment of the positioning accuracy analysis method for the infrared detection device of the present invention. The root mean square error of azimuth (i.e., azimuth accuracy) and the root mean square error of elevation (i.e., elevation accuracy) are output as the positioning accuracy analysis results of the infrared detection device. The azimuth error can also be calculated based on the true azimuth value and the corresponding azimuth measurement value, and the azimuth error curve can be drawn. The elevation error can also be calculated based on the true elevation value and the corresponding elevation measurement value, and the azimuth error curve can be drawn.

[0072] In this embodiment, the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times are first calculated based on the geographical location information of the object and the geographical location information of the infrared detection device within a preset time period. Then, the angular coordinate measurements of each measurement time point collected by the infrared detection device within the preset time period are obtained. Next, the true values ​​of the angular coordinates corresponding to each measurement time point are calculated based on the true values ​​of the spherical coordinates at different times. Finally, the angular coordinate error corresponding to each measurement time point is calculated based on the angular coordinate measurements and the true values. Finally, based on the angular coordinate errors corresponding to each measurement time point, angular coordinate measurements and true values ​​that meet the conditions are selected. The root mean square error of the angular coordinates is calculated based on the selected angular coordinate measurements and true values ​​to determine the positioning accuracy analysis result of the infrared detection device. Compared to existing technologies, the positioning accuracy analysis process of infrared detection devices requires professional technicians to operate and analyze each set of collected data, resulting in a long testing cycle and increased labor and time costs. This invention performs error analysis on the measured data and calculated true values, selects multiple sampling point data, and quickly analyzes the positioning accuracy using the selected multiple sampling point data. This reduces the workload of testing data analysis for the infrared detection device and the object, effectively improving the development efficiency of the equipment.

[0073] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the positioning accuracy analysis system for the infrared detection device of the present invention.

[0074] like Figure 5 As shown, the positioning accuracy analysis system for infrared detection equipment proposed in this embodiment of the invention includes: The acquisition module 5001 is used to calculate the true value of the spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object and the geographical location information of the infrared detection device within a preset time period. The acquisition module 5001 is also used to acquire the angular coordinate measurement values ​​of each measurement timestamp within the preset time period acquired by the infrared detection device; The calculation module 5002 is used to calculate the true value of the angle coordinates corresponding to each measurement timestamp based on the true value of the spherical coordinates at different times. Calculation module 5002 is used to calculate the angle coordinate error corresponding to each measurement timestamp based on the measured angle coordinate value and the true angle coordinate value; Select module 5003 to filter the measured angle coordinate values ​​and true angle coordinate values ​​that meet the conditions based on the angle coordinate errors corresponding to each measurement timestamp; The determination module 5004 is used to calculate the root mean square error of the angle coordinates based on the selected angle coordinate measurement values ​​and the true values ​​of the angle coordinates, and to determine the positioning accuracy analysis results of the infrared detection device.

[0075] Other embodiments or specific implementations of the positioning accuracy analysis system of the infrared detection device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0076] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0077] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0079] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for analyzing the positioning accuracy of an infrared detection device, characterized in that, The method includes the following steps: The true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times are calculated based on the geographical location information of the object and the geographical location information of the infrared detection device within a preset time period. Obtain the angular coordinate measurement values ​​of each measurement timestamp within the preset time period collected by the infrared detection device; Calculate the true values ​​of the angle coordinates corresponding to each measurement timestamp based on the true values ​​of the spherical coordinates at different times; Calculate the angle coordinate error corresponding to each measurement timestamp based on the measured angle coordinate value and the true angle coordinate value; Based on the angle coordinate error corresponding to each measurement timestamp, the angle coordinate measurement values ​​and the true angle coordinate values ​​that meet the conditions are selected. The root mean square error of the angle coordinates is calculated based on the selected angle coordinate measurements and the true angle coordinate values ​​to determine the positioning accuracy analysis results of the infrared detection device.

2. The method as described in claim 1, characterized in that, Before calculating the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object within a preset time period and the geographical location information of the infrared detection device, the process includes: Determine the location status information of the object to be detected and the infrared detection equipment within a preset time period; Based on the location status information, obtain the geographical location information of the detected object and the geographical location information of the infrared detection device within the preset time period.

3. The method as described in claim 2, characterized in that, The step of obtaining the geographical location information of the detected object and the geographical location information of the infrared detection device within the preset time period based on the location status information includes: When the location status information indicates that the positions of the detected object and the infrared detection device change over time, it is determined whether the GPS sampling rates of the detected object and the infrared detection device are consistent. If they are inconsistent, the geographic location information of the object to be processed at each time stamp and the geographic location information of the infrared detection device at each time stamp are collected within the preset time period. Extract the geographic location information of the detected object based on the previous and next timestamps of the current timestamp of the infrared detection device from the geographic location information to be processed under each timestamp; The geographic location information of the object under the current timestamp of the infrared detection device is calculated based on the geographic location information to be processed at the previous timestamp and the geographic location information to be processed at the next timestamp, and is used as the geographic location information of the object.

4. The method as described in claim 1, characterized in that, The step of calculating the true spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object within a preset time period and the geographical location information of the infrared detection device includes: Based on the geographical location information of the object being detected within a preset time period, calculate the longitude, latitude, and height data of the object at different times. Based on the geographical location information of the infrared detection device within the preset time period, calculate the longitude, latitude, and height data of the infrared detection device at different times using the angle-to-radian formula. The normal radius of curvature of the first ellipsoid and the normal radius of curvature of the second ellipsoid are calculated based on the latitude radian data of the infrared detection device and the latitude radian data of the object being detected, respectively. The three-dimensional coordinate data of the device are calculated based on the normal radius of curvature of the first ellipsoid, the longitude radian data, latitude radian data, and height data of the infrared detection device, and the three-dimensional coordinate data of the object are calculated based on the normal radius of curvature of the second ellipsoid, the longitude radian data, latitude radian data, and height data of the object being detected. The coordinate transformation matrix is ​​obtained based on the latitude and longitude data of the infrared detection device; The true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times are calculated based on the coordinate transformation matrix, the three-dimensional coordinate data of the device, and the three-dimensional coordinate data of the object.

5. The method as described in claim 1, characterized in that, The calculation of the true angle coordinates corresponding to each measurement timestamp based on the true spherical coordinates at different times includes: Select the true spherical coordinates of the previous and next times corresponding to each measurement timestamp from the true spherical coordinates at different times. Calculate the true angle coordinates corresponding to each measurement timestamp based on the true spherical coordinates of the previous and subsequent times.

6. The method as described in claim 1, characterized in that, The process of filtering angular coordinate measurements and true angular coordinates based on the angular coordinate errors corresponding to each measurement timestamp includes: The angular coordinate error includes azimuth error and pitch error; For any measurement timestamp, if both the azimuth error and elevation error meet the corresponding preset gate threshold conditions, then the angle coordinate measurement value corresponding to that measurement timestamp is selected. Based on the angle coordinate measurements of each filter, the true angle coordinate values ​​under the corresponding measurement timestamp are filtered from the true angle coordinate values ​​of each measurement timestamp.

7. The method as described in claim 6, characterized in that, Both the azimuth error and the pitch error satisfy the corresponding preset wavegate threshold conditions, including: The absolute value of the azimuth error is less than the preset azimuth gate threshold, and the absolute value of the pitch error is less than the preset pitch gate threshold.

8. A positioning accuracy analysis system for an infrared detection device, characterized in that, The system includes: The acquisition module is used to calculate the true values ​​of the spherical coordinates of the object relative to the infrared detection device at different times based on the geographical location information of the object and the geographical location information of the infrared detection device within a preset time period. The acquisition module is also used to acquire the angular coordinate measurement values ​​of each measurement timestamp within the preset time period acquired by the infrared detection device; The calculation module is used to calculate the true value of the angle coordinates corresponding to each measurement timestamp based on the true value of the spherical coordinates at different times; The calculation module is used to calculate the angle coordinate error corresponding to each measurement timestamp based on the measured angle coordinate value and the true angle coordinate value. The selection module is used to filter the measured angle coordinate values ​​and true angle coordinate values ​​that meet the conditions based on the angle coordinate errors corresponding to each measurement timestamp. The determination module is used to calculate the root mean square error of the angle coordinates based on the selected angle coordinate measurements and the true angle coordinates, and to determine the positioning accuracy analysis result of the infrared detection device.

9. A storage medium, characterized in that, The storage medium stores a positioning accuracy analysis program for an infrared detection device. When the positioning accuracy analysis program for an infrared detection device is executed by a processor, it implements the steps of the positioning accuracy analysis method for an infrared detection device as described in any one of claims 1 to 7.

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