THREE-DIMENSIONAL POSITIONING METHOD

摘要

A three-dimensional positioning system includes establishing a geometric model for optical AND radar sensors, obtaining rational function conversion coefficients, refining the rational function model and positioning three-dimensional coordinates. The system calculates rational polynomial coefficients from a geometric model of optical AND radar sensors, followed by refining a rational function model by determined ground control points and object image space intersection. The system then measures one or more conjugate points on the optical and radar images. Finally, an observation equation is established by the rational function model to solve and display three-dimensional coordinates.

主权项

1. A three-dimensional positioning system comprising:
a communication module configured to receive optical image data of a target area from one or more optical imagers and radar image data of the target area from one or more radar imagers; a processor in communication with the communication module; a display in communication with the processor; and computer readable storage media in communication with the processor and configured to induce the processor to (A) receive optical image data of the target area from the one or more optical imagers and to generate a plurality of corresponding optical images; (B) employ direct geo-referencing to establish a first geometric model of the plurality of optical images; (C) receive radar image data of the target area from the one or more radar imagers to generate a plurality of corresponding radar images; (D) determine range data from the plurality of radar images and employ the range data and a Doppler equation to establish a second geometric model of the radar images; (E) back project the plurality of optical images according to virtual ground control points in the first geometric model for the optical images; (F) calculate optical image coordinates corresponding to the virtual ground control points using collinear conditions; (G) back project the radar images according to the virtual ground control points in the second geometric model of the radar images; (H) calculate radar image coordinates corresponding to the virtual ground control points with the range data and the Doppler equation; (I) calculate rational polynomial coefficients for the optical images and for the radar images to establish an integrated rational function model; (J) convert the optical and the radar image coordinates to a rational function space and calculate corresponding rational function space coordinates; (K) obtain affine conversion coefficients from the rational function space coordinates and the optical and the radar image coordinates according to the ground control points; (L) complete a linear conversion to correct system error; (M) execute partial compensation via least squares collocation for amendments to eliminate systematic errors; (N) measure conjugate points after the rational function model is established and refined from the optical images and from the radar images; (O) place the conjugate points into the rational function model to establish an observation equation of three-dimensional positioning; and (P) induce the display to display a position of a target within the target area as a three-dimensional spatial coordinate via a least squares method.