METHOD FOR DETERMINING SPATIAL COORDINATES AND ANGULAR POSITION OF A REMOTE OBJECT Russian patent published in 2019 - IPC G01S5/00 

FIELD: surveying.

SUBSTANCE: invention relates to geodesy, cartography, photogrammetry, navigation. Said result is achieved by the use of at least three ranging stations (RS), located at some distance from each other and from a remote object, within a line of sight of a remote object, wherein the coordinates of the RS are determined in the spatial coordinate system (SCS), wherein the RSs guide their range finders at a remote object and determine the distance to a remote object, coordinates of a remote object are further determined by intersection of spheres with centers in three or more RSs, approximate coordinates of the position of a remote object are calculated, the RSs are oriented relative to each other in a certain way, with the possibility of increasing the number of RSs to 4 or more, distances between the RSs are measured, the SCS are calculated and set, wherein the coordinates of each subsequent, 4th and more, RS is determined in the SCS, given by RS 1, 2, 3 by measuring distances from each subsequent, 4th and more RS to RS 1, 2, 3, the coordinates of the RS and a remote object are determined in the common ground coordinate system (CGCS) by means of GLONASS/GPS, wherein the remote object is an unmanned aerial vehicle (UAV), parameters of the transition from CGCS to SCS, approximate, within the accuracy of 2 m, coordinates of the UAV in the SCS specified by the RS are determined using the parameters of the transition from CGCS to SCS, horizontal and vertical guidance angles are calculated for each RS, RS is guided to the UAV in the automatic mode, the distance from the RS to reflectors fixed to the UAV is measured, the coordinates of each reflector are further determined based on the measured distances to each individual reflector, using the method of intersecting spheres of three or more RSs, exact coordinates of the UAV in the SCS are determined as the average value between the coordinates of all reflectors, an angular position of the UAV is calculated, the spatial coordinates of points on the ground are calculated based on the measured coordinates of images thereof, obtained by the camera mounted on the UAV, using the coordinates of the UAV and the angular position of the UAV in the SCS.

EFFECT: achieved technical result is the determination of the spatial coordinates of the terrain (object) points by the measured coordinates of their images in images obtained using the unmanned aircraft.

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