Design and Implementation of a High-precision Ship Target Photoelectric Positioning System
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摘要: 针对跨海桥梁或沿海机场等场所需要实时测算获取移动船只目标绝对位置和高程的现实需要，文中介绍一种高精度光电船只目标定位系统设计与实现方案。通过将高清高精度光学探测组件集成于高精度云台设备内部，可实时解算出目标点的绝对位置信息和高程信息并上报监控系统。结合雷达系统引导可实现无人值守情况下自动测算过往船只经纬度坐标及高程功能。经实际运行测试，该系统展现出良好的可靠性，具有较好的测量精度和应用前景。Abstract: Herein, the design and implementation of a high-precision photoelectric ship target positioning system is introduced to obtain the absolute position and elevation of a moving ship target for real-time measurements in places such as sea-crossing bridges or coastal airports. By integrating high-definition and high-precision optical detection components into the high-definition PTZ equipment, the absolute position and altitude information of the target point can be calculated in real time and reported to the monitoring system. Combined with the guidance of a radar system, it can automatically measure the longitude, latitude coordinates, and altitude of passing ships under unattended conditions. An actual operational test showed that the system had good reliability, measurement accuracy, and application prospects.
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Keywords:
- optical detection assembly /
- PTZ /
- unattended /
- automatic calculation /
- longtitude and latitude /
- altitude
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图 3 目标与云台坐标系关系
Figure 3. The relationship between the target and PTZ coordinate system
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图 4 目标与偏移后的云台坐标系关系
Figure 4. The relationship between the target and offset PTZ coordinate system
表 1 电机和编码器参数
Table 1 Motor and encoder parameter
J180LWX005 motor Value EAC90F-0M21S encoder Value Rated torque/(N⋅m) 8 Resolution 21 bits Rated current/A 4 Accuracy < 30″ No-load speed/rpm 110 Maximum speed/rpm 6000 Torque coefficient/(N⋅m/A) 2 Phase resistor/Ω 1.6 Phase inductance/mH 4.5 
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表 2 目标经纬度测量对照
Table 2 Target longitude and latitude measurement comparison
Actual value of target longitude and latitude/° Measurement value of target longitude and latitude/° Distance/m Deviation/m Longitude: 118.7693622; Latitude: 31.87598539 Longitude: 118.7693379; Latitude: 31.8759465 2638 4.77 Longitude: 118.7841865; Latitude: 31.896963 Longitude: 118.7841426; Latitude: 31.8969342 3825 4.86 Longitude: 118.7775752; Latitude: 31.9166531 Longitude: 118.777571; Latitude: 31.9166863 6025 3.71 Longitude: 118.86845383; Latitude: 31.89987727 Longitude: 118.868425; Latitude: 31.8998692 8224 2.84
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表 3 目标高程测量对照
Table 3 Target height measurement comparison
Actual value of target height/m Measurement value/m Distance/m Deviation/m 87.944 88.2 2638 0.256 113.346 112.4 3825 -0.946 116.26 115.2 6025 -1.06 230.2 228.7 8224 -1.5
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