CN105136107A - Measurement method and measurement system for target position, tree height and diameter - Google Patents
Measurement method and measurement system for target position, tree height and diameter Download PDFInfo
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- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention provides to a measurement method and a measurement system for the target position, the tree height and the diameter, and relates to the technical field of target positioning and forest survey. According to the present invention, based on the technical defects in the target position, tree height and diameter measurement in the prior art, the method that two aiming devices are used to simultaneously aim at the target is used to measure the relative position of the target, the relative position can further be converted into the relative coordinate and the absolute coordinate, and if the target is the tree, the connecting line is aimed at the treetop while the two aiming devices are respectively aimed at the tree base, and the related angle and the related length are measured so as to obtain the position and the height of the tree and the diameter of the specified tree height site. The present invention further discloses the measurement system of the method. According to the present invention, the positions, the heights and the diameters of each trees can be completed at the measuring point, the method and the system can further be used for land area measurement, has characteristics of high measurement accuracy, substantial reduction of labor intensity and work load of forest resource survey, work efficiency improving and measurement accuracy improving, and can replace the existing sampleplot survey method.
Description
Technical field
The present invention relates to target localization and forest survey technique field, particularly relate to a kind of target location, the measuring method of the height of tree and diameter and measuring system.
Background technology
At present, the common method of measurement target position is global position system.Global position system can realize the location of locating device self, but in a lot of application scenario, not only needs the self poisoning information obtaining locating device, and need the locating information of the object around this device.Certainly some are also had about the patent of target localization, a kind of video monitoring apparatus that utilizes of such as notification number CN103017740B is to the localization method of monitoring objective and positioning system, its technical scheme is that control two monitors described monitoring objective with the video monitoring apparatus of monitoring objective not on same straight line simultaneously, but this needs two video monitoring apparatus all to comprise the absolute position that GPS module measures measuring point, and due to the positioning precision reason of GPS, the positional precision calculated is not very high, be not suitable for standing tree to measure, be not suitable for carrying with use yet.
In forest inventory investigation, the height of tree is the very important factor, and the measurement of the height of tree is an insoluble problem always, usually adopts eye estimating method or height finder to survey high in real work.Eye estimating method is closely related with the experience of individual, and measuring accuracy has no to ensure.Height finder is the most frequently used is at present Bu Lulaisi (Blume-Leiss) height finder.When measuring the height of tree with Bu Lulaisi height finder, require before the height often surveying a strain standing tree, first must measure the horizontal range (15,20,30 or 40m) of a standard length with aid.By the restriction of the factors such as landform, the gradient, understory species, the density of crop in forest, the measurement of standard level distance is very inconvenient or very difficult, even if measured standard level distance, due to blocking of crown canopy, often can't see treetop again, therefore, Bu Lulaisi height finder is in a varied topography, that density is slightly large forest or be inapplicable or inefficient when will measure the height of a lot of standing tree.Also has Chris village (Christen) height finder, Chris collects height finder needs the mark post placing conjunction measuring before tree as aid, and read text scale becomes close gradually with the increase of the height of tree, measuring error is larger, when the height of tree reaches more than 15m, Chris collects height finder and is difficult to reading, so, substantially superseded in survey high workload at present.In view of the foregoing, invent a kind of simple and practical, not requirement survey horizontal range, not be used in tree before place conjunction measuring mark post, the target that the height finder of measuring point can be selected arbitrarily just to have become this field forest workers always pursue for many years, while survey is high, preferably can also measure horizontal range.In order to reach this target, people have invented various height finder in succession, but, eventually because practicality is not high, and fail the status of alternative Bu Lulaisi height finder.Publication No. is the measurement that a kind of device measuring the height of tree of CN102183236A conveniently can realize the height of tree, but owing to being mechanical type, aiming operation inconvenience, precision is not high, can not survey horizontal range.
In forest inventory investigation, the diameter of trees is also the very important factor, wherein the most important thing is the diameter of a cross-section of a tree trunk 1.3 meters above the ground, certainly other diameter such as trunk mid diameter is also very important, can be used for calculating form quotient and figurate number, and then calculate trees accumulation, but very inconvenient owing to measuring, use hardly in real work at present.The diameter of a cross-section of a tree trunk 1.3 meters above the ground is the abbreviation of standing tree breastheight position diameter, and it is one of most element factor of measuring of standing tree.The method adopting the diameter of a cross-section of a tree trunk 1.3 meters above the ground to enclose chi and diameter of a cross-section of a tree trunk 1.3 meters above the ground slide calliper rule requires that when measuring survey crew will stand on tested standing tree limit, measuring accuracy is lower, untouchable forest then cannot be measured, need to record a large amount of measurement data simultaneously, labour intensity is comparatively large, and for the larger standing tree of footpath level, measures difficulty larger, traditional measurement method measures the diameter of a cross-section of a tree trunk 1.3 meters above the ground with enclosing chi, caliper scale etc., and then hand-kept data.Obviously, traditional method is more and more not suitable with the requirements such as Investigation Forestry Resources informationization, precision and the data of mobilism storage in real time.
What stand investigation method was commonly used at present is sample plot method, the method requires the diameter of a cross-section of a tree trunk 1.3 meters above the ground of every strain forest of measuring in certain areal extent, if with two-dimentional Volume table, also will the height of tree be measured, be generally the square of area 1 mu, measure with box compass the side arriving every strain standing tree after this foursquare border also marks again and carry out every wooden dipping, workload is very large, labour intensity is large, also easily omit simultaneously or repeat, and because of tree height measurement very inconvenient, usually only survey diameter of a cross-section of a tree trunk 1.3 meters above the ground factor, the accumulation error calculated is larger.
If so the position target of inventing a kind of energy Measurement accuracy target is standing tree can also measure the height of tree and specify the measuring method of height of tree position diameter and measuring system just to become people the target pursued, this measuring method and measuring system also will use flexibly, can greatly alleviate study plot investigation workload and labour intensity, and can realize on a large scale, telemeasurement.
Summary of the invention
The object of the invention is for the technological deficiency in the target location existed in prior art, the height of tree and appointment height of tree position diameter measurement, and a kind of measuring method and measuring system of target location are provided, if target is standing tree, can also measure the height of tree and specify the diameter at height of tree position, another object of the present invention is to provide a kind of management volume investigation method that significantly can reduce labour intensity and workload, replacement existing standard ground investigation method.
The technical scheme adopted for realizing object of the present invention is:
The measuring method of a kind of target location, the height of tree and diameter, target bit is equipped with relative position, relative coordinate and absolute coordinates three kinds of method for expressing, the relative position of target target represents apart from the relative relief of the horizontal range of measuring point, target and measuring point, target to the line of measuring point and the horizontal sextant angle of inceptive direction, inceptive direction can set arbitrarily, relative position is convertible into relative coordinate or absolute coordinates, if target is standing tree, then also have diameter two factors at the height of tree and appointment height of tree position, comprise the steps
1) by the same point (E) on two sighting devices (B and C) respectively run-home, one of them sighting device (B) is positioned at directly over measuring point (A), if target is standing tree, then described two sighting devices aim at the same point (E) on tree base respectively, and the line of described two sighting devices aims at treetop (F); Described two sighting devices all comprise aiming unit, rotary drive unit and at least one angle measuring unit; Relative relief as obtained target and measuring point then measures the height (h) of measuring point to sighting device directly over it; It is to be noted, inceptive direction both can set in advance, also can measure first aim time automatically set, direction when namely measuring first aim on same observation station is defaulted as inceptive direction, when also namely measuring first aim on same observation station, target is zero to the line of measuring point and the horizontal sextant angle of inceptive direction, and after changing measuring point, inceptive direction will reset; Sometimes do not need the relative relief knowing target and measuring point during measurement target, then now requirement does not survey the height (h) of measuring point to sighting device directly over it, such as, generally just does not need to know this discrepancy in elevation when target is standing tree;
2) control system reads the aiming sight line of described two sighting devices and the angle (α of surface level
2and α
3), the angle (α of air line distance (a) between described two sighting devices and line and surface level
1), the horizontal sextant angle of described two sighting device lines and inceptive direction; If described two planes aiming at sight line formation are not orthogonal to surface level, the horizontal sextant angle (β of described two sighting device lines relative to described aiming sight line also to be read
1and β
2); It is noted that the line of two described sighting devices or distance refer to line between the turning axle mid point of the aiming unit in sighting device or distance.
3) control system calculates the relative position of target according to the angle and distance information read and exports, if target is standing tree, calculates the tree relative position of base and the height of tree and exports;
4) when needing to measure the diameter of specifying height of tree position, aiming point (E) on tree base will be positioned at tree base edge, namely basic circle arc and the point of contact aiming at sight line is set, after obtaining the height of tree and horizontal range, keep the invariant position of sighting device on measuring point, vertical direction rotates aiming unit wherein, and control system reads the aiming sight line of this sighting device and the angle (α of surface level
2) and the height at calculating and the measured position of output, if reach the required height of tree position measuring diameter, then horizontally rotate this sighting device, the circular arc making it aim at sight line and this height of tree position is tangent, measures the anglec of rotation (γ of this sighting device
1), continue to horizontally rotate this sighting device, make it aim at sight line and this position opposite side circular arc is tangent, measure the anglec of rotation (γ of this sighting device
2), control system calculates the vertical wood diameter at this height of tree position and exports.
The beneficial effect of this measuring method is, at measuring point place not need by other utility appliance, do not need the satellite positioning module such as GPS can complete the accurate measurement of target relative position, if target is standing tree, also can measure the diameter at the height of tree and appointment height of tree position simultaneously, thus be applicable to do the investigation of circular study plot, can greatly alleviate workload and labour intensity.In addition, because inceptive direction can set flexibly, therefore can the object of reference of selected target position easily.
In some embodiments, the sighting device wherein on measuring point also comprises compass unit, is used for determining the angle of inceptive direction and direct north, converts the relative position of target to relative coordinate.Its beneficial effect is, the relative position recorded can be converted to measuring point is initial point, each coordinate axis relative coordinate parallel with world coordinate system corresponding coordinate axle.
In some embodiments, sighting device wherein on measuring point also comprises compass unit and satellite positioning unit, be used for determining the angle of inceptive direction and direct north and obtain the absolute coordinates of measuring point in world coordinate system, the relative position of target being converted to the absolute coordinates in world coordinate system.Its beneficial effect is, the absolute coordinates that the relative position of target can be converted to relative coordinate or be converted to further in world coordinate system.
In some embodiments, the aiming unit wherein in two sighting devices is generating laser or imaging device, and when aiming unit is imaging device, in target, aiming point imaging will in image centre.Its beneficial effect is, makes aiming mode of the present invention adapt to the needs of different application occasion.In target, aiming point imaging also can not carry out angle modification when image centre, can carry out computed correction during correction according to the parameter of imaging device and target position in the picture.
The measuring system of a kind of target location, the height of tree and diameter, comprise two and comprise the sighting device aiming at unit, rotary drive unit and vertical angles measuring unit, sighting device directly over measuring point is positioned at also with the connector comprising level angle measuring unit and measurement of dip angle unit when wherein measuring, rotary drive unit aims at unit horizontal or vertical direction rotation for driving, and described two sighting devices are linked together by a stock;
Rotate control module, for controlling and driving rotary drive unit;
Key-press module, for inputting data and key information; This module not only refers to physical keyboard, also can be the soft keyboard on screen;
Data processing module, for storing data, receiving the data of key information and angle measuring unit measurement and calculate, draws the positional information of target; It is to be noted, if target is standing tree, this positional information also comprises the height of tree and specifies the diameter at height of tree position, and the result calculated also can be kept in for bulk transfer to external unit while outputting to display module;
Display module, for receiving the result of calculation of data processing module and being shown.
The beneficial effect of this measuring system is, do not having under NAVSTAR and other utility appliance condition, this system also can the relative position of measurement target and the diameter at the height of tree and appointment height of tree position, the such as diameter of a cross-section of a tree trunk 1.3 meters above the ground and trunk mid diameter, and measuring accuracy is high.
This measuring system also comprises communication module in some embodiments, for data processing module and external unit or/and carry out data transmission between sighting device.Communication module is used for carrying out data transmission with external unit, also can be used for carrying out data transmission with sighting device, data transfer mode between factor data processing module and sighting device can be wired or wireless, if wired, can directly carry out, if wireless, then to be transmitted by communication module, its beneficial effect is, facilitates this measuring system the measurement result of record to be transmitted to external units such as computers, alleviates the record burden of measure field; As the imaging of sighting device energy, also can imaging be presented on display module, convenient aiming.
In some embodiments, when wherein measuring, the sighting device be positioned at directly over measuring point also comprises compass unit, and the data of this compass unit measuring are transferred to data processing module to obtain the relative coordinate of target.Its beneficial effect is, the relative position of measurement can be converted to measuring point by measuring system be the relative coordinate that initial point, each coordinate axis are parallel with world coordinate system corresponding coordinate axle.
In some embodiments, when wherein measuring, the sighting device be positioned at directly over measuring point also comprises compass unit and satellite positioning unit, and the data of these two unit measurings are transferred to data processing module to obtain the absolute coordinates of target.Its beneficial effect is the absolute coordinates making measuring system the relative position of target can be converted to relative coordinate or be converted to further in world coordinate system.
In some embodiments, the aiming unit in two sighting devices is generating laser or imaging device.Its beneficial effect is the needs making the aiming mode of measuring system adapt to different application occasion.
In some embodiments, sighting device described in wherein one or two is separated from described measuring system, now described two sighting devices are all with the connector comprising level angle measuring unit and measurement of dip angle unit, each separate section all comprises intercom unit, intercom unit is used for data processing module and rotates control module and exchange information, each angle measuring unit exports angle signal to data processing module by intercom unit, rotate control module and export rotation control signal to the rotary drive unit of described sighting device by intercom unit.Because two sighting devices do not link together, so sighting device is except will having vertical angles measurement module, also all must to there be level angle measurement module and measurement of dip angle module, the measurement of target location could be carried out easily when the plane that two are aimed at sight line formation is not orthogonal to surface level.Its beneficial effect makes measuring system adapt to different application requirements, as just needed measuring system to have portability when measuring standing tree, so just requires that two sighting devices link together; And in some application scenario, need the distance of two sighting devices to draw far such as 1km to 5km to improve measuring accuracy and measuring distance, so just require that two sighting devices are separated, and other module of measuring system can follow one of them sighting device, also independently can be located at a place.
Tell about measuring principle of the present invention below.
Directly measure by Angle Measurement Module with the horizontal sextant angle of inceptive direction and obtain.
If the height of tree is H, target or tree base are L to the horizontal range of measuring point, and the relative relief of target or tree base and measuring point is H
2, the relative relief of treetop and measuring point is H
1, as height lower than measuring point then the discrepancy in elevation be negative value, then H=H
1-H
2,
The air line distance of two sighting devices is a, inclination angle is α
1,
During run-home, if the inclination angle that measuring point A place sighting device B aims at sight line is α
2, the inclination angle that sighting device C aims at sight line is α
3, angle above water time on the occasion of, below surface level time be negative value, if the distance of sighting device C to treetop F is x,
One, when the plane orthogonal of sighting device and target configuration is in surface level,
1, α is worked as
1, α
2, α
3when being all not equal to 90 degree,
There is equation (1) L=(a+x) cos α
1
（2）H＝x·sinα
1-x·cosα
1tanα
3＝H
1-H
2
（3）H
2＝Ltanα
2
（4）H
1＝Ltanα
1
Separate this system of equations, obtain measuring point to target or the horizontal range setting base
The relative relief of target or tree base and measuring point place sighting device
With the relative relief=H of measuring point
2+ h, h are measuring point to the height of sighting device (B) on it;
The height of tree
2, α is worked as
1when being 90 degree, be easy to obtain according to geometric relationship
Horizontal range L=a/ (tan α
2-tan α
3)
With the relative relief=Ltan α of measuring point
2+ h
3, α is worked as
2when being 90 degree, be easy to obtain according to geometric relationship
Horizontal range L=0
With the relative relief=acos α of measuring point
1tan α
3-asin α
1+ h
4, α is worked as
3when being 90 degree, be easy to obtain according to geometric relationship
Horizontal range L=acos α
1
With the relative relief=Ltan α of measuring point
2+ h
Two, when the plane of sighting device and target configuration is not orthogonal to surface level,
For convenience of calculating, needing to establish boost line, as shown in Figure 2, keeping the inclination alpha of two sighting device lines
1and length a is constant, sighting device C is rotated to C ' position, make B and C ' and target configuration perpendicular to the plane of surface level, so just become the previous case, then the α in the previous case result of calculation
3be the inclination angle of C ' and target link in fact, if this inclination angle is α
5, only need find out α
5α in such cases
3relation then can,
If two sighting device lines are β relative to the horizontal sextant angle of sighting device B aiming sight line
1, the horizontal sextant angle aiming at sight line relative to sighting device C is β
2,
For ease of calculating, B, C, E are projected on a surface level, A, C, D as shown in Figure 2, have equation
（1）CD·sinβ
2=AD·sinβ
1
（2）AD·cosβ
1-CD·cosβ
2=AC
（3）tanα
5=DE/(AD-AC’)=CD·tanα
3/(AD-AC)
Separate this system of equations, obtain
With tan α in this calculating formula
5value replace aforementioned α
1, α
2, α
3horizontal range L when being all not equal to 90 degree and discrepancy in elevation H
2tan α in calculating formula
3, the horizontal range of target and the relative relief with measuring point can be obtained.
Three, the diameter of specifying height of tree position is calculated
Calculate the sighting device on measuring point aim at the height of tree at position:
Aim at the position height of tree=Ltan α
2-H
2, H herein
2it is previous calculations value out
Calculate radius:
Radius OE '=BOsin (γ
2/ 2)={ BE/cos [γ
1+ (γ
2/ 2)] } sin (γ
2/ 2)=Lsin (γ
2/ 2)/cos [γ
1+ (γ
2/ 2)]
Calculated diameter:
Diameter=2OE '
In the calculating formula of above-mentioned radius, due to γ
1value usually very little, generally can ignore within the scope of diameter accuracy, so radiuscope formula also can replace by following approximate formula: OE ' ≈ Ltan (γ
2/ 2).
The substantive distinguishing features that the present invention gives prominence to can calculate the relative position of target and the height of tree and appointment height of tree position diameter by two sighting device run-homes.Relative position also can convert relative coordinate or absolute coordinates to as required.
The substantive distinguishing features that the present invention gives prominence to also is that two sighting devices both can couple together, also can separates, to adapt to different application scenarios.
Compared with prior art, the present invention's progress is significantly the relative position that can not need global position system and accurate measurement target, also the relative position of target can be converted to the absolute coordinates in world coordinate system; Because can the relative position of accurate measurement target, thus also can measure the area in various shape soil, the relative position only need measuring this border, soil each point at measuring point place can accurately calculate the area in this soil, greatly alleviate workload, compared with measuring method with existing GPS measuring method or craft, considerably improve precision.
The present invention can also measure the height of tree and specify the diameter at the height of tree position when progress is also that target is standing tree significantly, can optional measuring point, the height of tree, the diameter of a cross-section of a tree trunk 1.3 meters above the ground, trunk mid diameter, measurement apart from the factor such as horizontal range of measuring point can be completed at measuring point place, do not need other servicing unit to place mark post such as standing tree is other.
The present invention is progressive significantly to be also because can measure horizontal range, the diameter of a cross-section of a tree trunk 1.3 meters above the ground and the height of tree, so existing study plot investigation method can be replaced with circular study plot completely in management volume investigation, the measurement of every strain forest in study plot can be completed at measuring point place, dramatically reduce labour intensity and the workload of forest inventory investigation, improve work efficiency and measuring accuracy.
Accompanying drawing explanation
Fig. 1 is two instrumentation plans of plane orthogonal when surface level aiming at sight line and form;
Fig. 2 is two instrumentation plans aiming at when plane that sight lines form is not orthogonal to surface level;
Fig. 3 is the schematic diagram measuring the height of tree;
Fig. 4 measures the schematic diagram of specifying height of tree position diameter;
Fig. 5 is the measuring system structural representations of two sighting devices when linking together.
Wherein, A-measuring point, B-sighting device, C-sighting device, D-target in the projection of surface level, E-measured target or tree base, F-treetop, OE-sets base place radius, the radius at OE '-appointment height of tree position, BG-horizontal line, 101-connects the stock of two sighting devices, 102-sighting device with connector, 103-turning axle.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in further details.Should be appreciated that specific embodiment described herein is illustrative, instead of determinate, protection scope of the present invention can not be limited according to following examples.
Embodiment one: as shown in Fig. 1, Fig. 3, Fig. 4, the measuring method of target location described in the present embodiment, the height of tree and diameter is:
Comprise the steps,
1) by the same point (E) on two sighting devices respectively run-home, one of them sighting device to be positioned at directly over measuring point (A) and to set inceptive direction, if target is standing tree, then these two sighting devices aim at same point (E) on tree base respectively, and the line of described two sighting devices aims at treetop (F); These two sighting devices all comprise generating laser, the angular transducer measuring vertical angles and rotary drive unit, generating laser is used for run-home, and the sighting device be positioned at directly over measuring point also comprises the angular transducer and obliquity sensor of measuring level angle; Relative relief as obtained target and measuring point then measures the height (h) of measuring point to sighting device directly over it, and this height is as the criterion with the turning axle mid point of the generating laser in sighting device; Inceptive direction also can not set in advance and automatically set when measuring first aim, and direction when namely measuring first aim on same observation station is defaulted as inceptive direction, and after changing measuring point, inceptive direction will reset.Sometimes do not need the relative relief knowing target and measuring point during measurement target, then requirement does not survey the height (h) of measuring point to sighting device directly over it, such as, generally just does not need to know this discrepancy in elevation when target is standing tree;
2) control system reads the aiming sight line of these two sighting devices and the angle (α of laser axis and surface level
2and α
3), the angle (α of air line distance (a) between these two sighting devices and line and surface level
1), the horizontal sextant angle of described two sighting device lines and inceptive direction; Described two planes aiming at sight line formation are all the time perpendicular to surface level; The line of two described sighting devices or distance refer to line between the turning axle mid point of the generating laser in sighting device or distance.Air line distance (a) between two sighting devices can be set to a fixed value such as 50cm or 100cm and be stored in advance in measuring system;
3) control system goes out the relative position of target according to the angle and distance information read by the formulae discovery that aforementioned principles part provides and exports, if target is standing tree, calculates the relative position of tree base and the height of tree and exports;
4) when needing to measure the diameter of specifying height of tree position, aiming point (E) on tree base will be positioned at tree base edge, namely basic circle arc and the point of contact aiming at sight line is set, after obtaining the height of tree and horizontal range, keep the invariant position of sighting device on measuring point, vertical direction rotates generating laser wherein, and control system reads the aiming sight line of this sighting device and the angle (α of laser axis and surface level
2) and the height at calculating and the measured position of output, if reach the required height of tree position measuring diameter, then horizontally rotate this sighting device, the circular arc making it aim at sight line and laser axis and this height of tree position is tangent, measures the anglec of rotation (γ of this sighting device
1), continue to horizontally rotate this sighting device, make it aim at sight line and laser axis and this position opposite side circular arc tangent, measure the anglec of rotation (γ of this sighting device
2), control system goes out the vertical wood diameter at this height of tree position by the formulae discovery that aforementioned principles part provides and exports.
Embodiment two: the difference of measuring method described in the present embodiment and embodiment one is, aiming unit on sighting device is not generating laser but camera, the adjustable zoom of camera and focusing, to improve precision, in target, aiming point imaging will in image centre.Now observe and aim at sight line and circular arc is tangent whether determines in image centre by observing aiming point.
Embodiment three: the difference of measuring method described in the present embodiment and embodiment one or two is, sighting device (B) on measuring point with connector also comprise digital compass, be used for determining the angle of direct north and inceptive direction, calculate for simplifying, this angle can be set to zero, be decided to be inceptive direction by direct north.Now the relative position of measurement can be converted to measuring point is initial point, each coordinate axis relative coordinate parallel with world coordinate system corresponding coordinate axle, as Beijing 54 rectangular coordinate system.
Embodiment four: the difference of measuring method described in the present embodiment and embodiment three is, sighting device (B) on measuring point with connector also comprise gps satellite locating module, the absolute coordinates of measuring point can be obtained like this, just the relative coordinate of target can be converted to absolute coordinates further, such as first the WGS-84 terrestrial coordinate of measuring point is converted to Beijing 54 rectangular coordinate, again the relative coordinate of target is converted to Beijing 54 rectangular coordinate, then is converted to WGS-84 terrestrial coordinate.
Embodiment five: as shown in Figure 2, the difference of measuring method described in the present embodiment and previous embodiment is, sighting device (C) is separated with sighting device (B), now sighting device (C) is also with a connector, this connector has equally the obliquity sensor for carrying out level correction and the high-precision angle sensor for measuring horizontal rotation angle.And now two sighting devices all with wireless communication unit as bluetooth, the angle-data measured for the Real-time Obtaining when measuring and control the rotation of sighting device;
During measurement, two connectors are all placed on bracing frame, by connector level of corrections, setting inceptive direction; Measure the air line distance of the turning axle mid point of the aiming unit in two sighting devices and store in systems in which;
Again sighting device (B) is aimed at sighting device (C), the inclination alpha of two sighting device lines can be obtained
1; Rotate sighting device (B) with run-home as start bit again, can inclination alpha be obtained
2with horizontal sextant angle β
1;
Sighting device (C) is aimed at sighting device (B), rotates sighting device (C) with run-home as start bit, can inclination alpha be obtained
3with horizontal sextant angle β
2; There are these data systems just can calculate the relative position of target.
Embodiment six: as shown in Figure 5, a kind of target location described in the present embodiment, the measuring system of the height of tree and diameter, comprise two and comprise generating laser, measure straight-bar and the high-precision angle sensor of generating laser angle and the sighting device of rotary drive unit, the sighting device be positioned at directly over measuring point also has a high-precision angle sensor for measuring the angle of straight-bar and surface level, these two sighting devices are linked together by a stock, its turning axle is at a distance of 0.5 meter, this numerical value calls for when calculating stored in data processing module, the laser of two laser transmitter projects to be ensured all the time at grade during installation, sighting device directly over measuring point is positioned at also with a connector during measurement, this connector comprises the high-precision angle sensor for measuring horizontal rotation angle and the obliquity sensor for carrying out level correction, and rotary drive unit is used for the horizontal or vertical direction of driving laser transmitter and rotates, each sensor will be with A/D to change with direct output digit signals, straight-bar and generating laser angle namely with aim at the angle of sight line, the measuring accuracy of angular transducer will within 0.003 degree,
Rotate control module, for controlling and driving rotary drive unit;
Key-press module, for inputting data and key information;
Data processing module, the data that the data, reception key information and the angular transducer that input for storing key-press module measure also calculate, and draw the positional information of target and keep in;
Display module, for receiving the result of calculation of data processing module and being shown.
Embodiment seven: the difference of measuring system described in the present embodiment and embodiment six is, also comprises communication module, carries out data transmission for data processing module and external unit, also can be used for carrying out data transmission with sighting device.As measurement result being uploaded to computing machine, palm PC etc.Described communication module can be serial communication module or wireless communication module.
Embodiment eight: the difference of measuring system described in the present embodiment and embodiment six is, the sighting device be positioned at directly over measuring point also comprises digital compass, when horizontal angle sensor setting inceptive direction, digital compass can indicate the angle of inceptive direction and direct north in real time.
Embodiment nine: the difference of measuring system described in the present embodiment and embodiment eight is, the sighting device be positioned at directly over measuring point also comprises gps satellite locating module, and the data that satellite positioning module records are transferred to data processing module to generate the absolute coordinates of target.
Embodiment ten: the difference of measuring system described in the present embodiment and embodiment six is, the aiming unit on sighting device is not generating laser, but camera, the adjustable zoom of camera and focusing, to improve precision.
Embodiment 11: the difference of measuring system described in the present embodiment and embodiment six to ten is, one or two in two sighting devices can be separated into independent sector, now these two sighting devices all measure the high-precision angle sensor of horizontal rotation angle and the connector of obliquity sensor with comprising, each separate section all comprises intercom unit, intercom unit is used for exchanging information with data processing module and rotation control unit, each angular transducer exports angle signal to data processing module by intercom unit, rotate control module and export rotation control signal to rotary drive unit by intercom unit.Intercom unit can by radio communication as bluetooth.Angular transducer on connector is for measuring horizontal rotation angle.
Embodiment 12: the difference of measuring system described in the present embodiment and embodiment 11 is, the aiming unit on sighting device is not generating laser but camera; Camera is not two but three, these three cameras are triangularly arranged, the triangle length of side is no more than 5 kilometers, and every two cameras form a measuring system, can average to improve measuring accuracy by the measurement result of these three measuring systems when measuring like this.The adjustable zoom of camera and focusing, to improve precision.Connector now on camera is fixedly mounted on platform, and the Distance geometry inclination angle between camera and position angle can measure the data processing module stored in measuring system in advance.
Embodiment 13: the difference of measuring system described in the present embodiment and embodiment 12 is, the aiming unit on sighting device is not camera, but with telescopical video camera.Connector now on video camera is fixedly mounted on platform, and the Distance geometry inclination angle between video camera and position angle can measure the data processing module stored in measurement mechanism in advance.
The above is only preferred some embodiments of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the measuring method of a target location, the height of tree and diameter, target bit is equipped with relative position, relative coordinate and absolute coordinates three kinds of method for expressing, the relative position of target target represents apart from the relative relief of the horizontal range of measuring point, target and measuring point, target to the line of measuring point and the horizontal sextant angle of inceptive direction, inceptive direction can set arbitrarily, relative position is convertible into relative coordinate or absolute coordinates, if target is standing tree, then also have diameter two factors at the height of tree and appointment height of tree position, it is characterized in that: comprise the steps
1) by the same point (E) on two sighting devices (B and C) respectively run-home, one of them sighting device (B) is positioned at directly over measuring point (A), if target is standing tree, then described two sighting devices aim at the same point (E) on tree base respectively, and the line of described two sighting devices aims at treetop (F); Described two sighting devices all comprise aiming unit, rotary drive unit and at least one angle measuring unit; Relative relief as obtained target and measuring point then measures the height (h) of measuring point to sighting device directly over it;
2) control system reads the aiming sight line of described two sighting devices and the angle (α of surface level
2and α
3), the angle (α of air line distance (a) between described two sighting devices and line and surface level
1), the horizontal sextant angle of described two sighting device lines and inceptive direction; If described two planes aiming at sight line formation are not orthogonal to surface level, the horizontal sextant angle (β of described two sighting device lines relative to described aiming sight line also to be read
1and β
2);
3) control system calculates the relative position of target according to the angle and distance information read and exports, if target is standing tree, calculates the tree relative position of base and the height of tree and exports;
4) when needing to measure the diameter of specifying height of tree position, aiming point (E) on tree base will be positioned at tree base edge, namely basic circle arc and the point of contact aiming at sight line is set, after obtaining the height of tree and horizontal range, keep the invariant position of sighting device on measuring point, vertical direction rotates aiming unit wherein, and control system reads the aiming sight line of this sighting device and the angle (α of surface level
2) and the height at calculating and the measured position of output, if reach the required height of tree position measuring diameter, then horizontally rotate this sighting device, the circular arc making it aim at sight line and this height of tree position is tangent, measures the anglec of rotation (γ of this sighting device
1), continue to horizontally rotate this sighting device, make it aim at sight line and this position opposite side circular arc is tangent, measure the anglec of rotation (γ of this sighting device
2), control system calculates the vertical wood diameter at this height of tree position and exports.
2. the measuring method of a kind of target location according to claim 1, the height of tree and diameter, it is characterized in that: the sighting device on described measuring point also comprises compass unit, be used for determining the angle of inceptive direction and direct north, convert the relative position of target to relative coordinate.
3. the measuring method of a kind of target location according to claim 1, the height of tree and diameter, it is characterized in that: the sighting device on described measuring point also comprises compass unit and satellite positioning unit, be used for determining the angle of inceptive direction and direct north and obtain the absolute coordinates of measuring point in world coordinate system, the relative position of target being converted to the absolute coordinates in world coordinate system.
4. the measuring method of a kind of target location according to claim 1,2 or 3, the height of tree and diameter, it is characterized in that: the aiming unit in described two sighting devices is generating laser or imaging device, when aiming unit is imaging device, in target, aiming point imaging will in image centre.
5. the measuring system of a target location, the height of tree and diameter, it is characterized in that: comprise two and comprise the sighting device aiming at unit, rotary drive unit and vertical angles measuring unit, sighting device directly over measuring point is positioned at also with the connector comprising level angle measuring unit and measurement of dip angle unit when wherein measuring, rotary drive unit aims at unit horizontal or vertical direction rotation for driving, and described two sighting devices are linked together by a stock;
Rotate control module, for controlling and driving rotary drive unit;
Key-press module, for inputting data and key information;
Data processing module, for storing data, receiving the data of key information and angle measuring unit measurement and calculate, draws the positional information of target;
Display module, for receiving the result of calculation of data processing module and being shown.
6. the measuring system of a kind of target location according to claim 5, the height of tree and diameter, is characterized in that: also comprise communication module, for data processing module and external unit or/and carry out data transmission between sighting device.
7. the measuring system of a kind of target location according to claim 5, the height of tree and diameter, it is characterized in that: during described measurement, the sighting device be positioned at directly over measuring point also comprises compass unit, the data of this compass unit measuring are transferred to data processing module to obtain the relative coordinate of target.
8. the measuring system of a kind of target location according to claim 5, the height of tree and diameter, it is characterized in that: during described measurement, the sighting device be positioned at directly over measuring point also comprises compass unit and satellite positioning unit, the data of these two unit measurings are transferred to data processing module to obtain the absolute coordinates of target.
9. the measuring system of a kind of target location according to claim 5,6,7 or 8, the height of tree and diameter, is characterized in that: the aiming unit in described two sighting devices is generating laser or imaging device.
10. according to claim 5, 6, a kind of target location described in 7 or 8, the measuring system of the height of tree and diameter, it is characterized in that: sighting device described in one or two is separated from described measuring system, now described two sighting devices are all with the connector comprising level angle measuring unit and measurement of dip angle unit, each separate section all comprises intercom unit, intercom unit is used for data processing module and rotates control module and exchange information, each angle measuring unit exports angle signal to data processing module by intercom unit, rotate control module and export rotation control signal to the rotary drive unit of described sighting device by intercom unit.
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| CN201510480720.7A CN105136107B (en) | 2015-07-07 | 2015-08-09 | The measuring method and measuring system of a kind of target location, tree height and diameter |
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| CN114035186B (en) * | 2021-10-18 | 2022-06-28 | 北京航天华腾科技有限公司 | Target position tracking and indicating system and method |
| CN117172505A (en) * | 2023-09-27 | 2023-12-05 | 广东省农业科学院农业经济与信息研究所 | Crop planting state monitoring method and system based on Internet of things |
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| CN105136107B (en) | 2018-06-08 |
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