Position and azimuth measurement device and surveying device

• US 10,670,731 B2
• Filed: 07/31/2017
• Issued: 06/02/2020
• Est. Priority Date: 08/03/2016
• Status: Active Grant

• Current Assignee: Topcon Corporation
• Original Assignee: Topcon Corporation
• Inventors: Yuasa, Junichi
• Primary Examiner(s): Gregory, Bernarr E
• Assistant Examiner(s): Pervin, Nuzhat
• Application Number:
  US15/664,368
• Publication Number:
  US 20180038963A1
• Time in Patent Office: 1,037 Days
• Field of Search: 34235767
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 9/00 Measuring inclination, e.g. by clinometers, by levels
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/28 Satellite selection
• CPC Class Codes: G01S 19/36 relating to the receiver frond end
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A position and azimuth measurement device capable of measuring geographical coordinates and azimuth angles and a surveying device are provided. The position and azimuth measurement device includes a GNSS device, having a GNSS antenna for obtaining position information thereof; a horizontal rotating section capable of rotating the GNSS antenna horizontally; a leveling section capable of leveling the horizontal rotating section; a horizontal angle detector configured to detect a horizontal angle of the horizontal rotating section; and a control device. The control device causes the GNSS device to continuously obtain the position information while causing the horizontal rotating section leveled by the leveling section to make one full rotation, and computes geographical coordinates and an azimuth angle on the basis of the position information obtained throughout the full rotation.

Claims

1. A position and azimuth measurement device comprising:

a GNSS device, including a GNSS antenna, configured to obtain position information of the GNSS antenna on the basis of observation values from satellites;

a horizontal rotating section capable of rotating the GNSS antenna horizontally, wherein the GNSS antenna is provided at a known distance from a vertical axial center of the horizontal rotating section;

a leveling section capable of leveling the horizontal rotating section;

a horizontal angle detector configured to detect a horizontal angle of the horizontal rotating section; and

a control device,

wherein the control device causes the GNSS device to continuously obtain the position information while causing the horizontal rotating section leveled by the leveling section to make one full rotation, and is configured to compute geographical coordinates and an azimuth angle on the basis of the position information obtained throughout the full rotation,

wherein of the satellites from which the GNSS device obtains the observation values, the control device selects only satellites capable of outputting observation values throughout the full rotation, and

wherein the control device is configured to create a shape filter having a ring shape and a predetermined width with respect to a circle having a radius equivalent to a distance between the vertical axial center and the GNSS antenna, and match the shape filter to a position in which the number of pieces of the position information located within the shape filter is highest.

2. The position and azimuth measurement device according to claim 1,

wherein the control device is configured to fit a circle relative to the position information within the shape filter and compute center coordinates of the circle that is fitted.

3. The position and azimuth measurement device according to claim 2,

wherein the control device includes a communication section configured to obtain measurement information of a known observation point, and is configured to compute the geographical coordinates on the basis of the measurement information obtained through the communication section.

4. The position and azimuth measurement device according to claim 1,

wherein the control device is configured to set a coordinate obtainment position at a desired position of the GNSS antenna and at least one coordinate obtainment position at a position of the GNSS antenna rotated from the coordinate obtainment position by a predetermined angle, stop rotation of the horizontal rotating section for a predetermined amount of time at each of the coordinate obtainment positions, and compute the azimuth angle on the basis of position information obtained at each of the coordinate obtainment positions while the rotation of the horizontal rotating section is stopped.

5. The position and azimuth measurement device according to claim 4,

wherein a numerical filter configured to allow values near a center to pass is applied to the position information obtained at each of the coordinate obtainment positions.

6. The position and azimuth measurement device according to claim 5,

wherein each of representative values is selected from each piece of position information obtained at each of the coordinate obtainment positions, and the azimuth angle is computed on the basis of a coordinate difference among the representative values.

7. A surveying device comprising:

a GNSS device, including a GNSS antenna, configured to obtain position information of the GNSS antenna on the basis of observation values from satellites;

a horizontal rotating section capable of rotating the GNSS antenna horizontally, wherein the GNSS antenna is provided at a known distance from a vertical axial center of the horizontal rotating section;

a leveling section capable of leveling the horizontal rotating section;

a telescope section provided on the horizontal rotating section and capable of vertical rotation;

a rangefinding section, housed within the telescope section, configured to measure a range by emitting rangefinding light and receiving the rangefinding light that has been reflected;

a horizontal angle detector configured to detect a horizontal angle of the horizontal rotating section;

a vertical angle detector configured to detect a vertical angle of the telescope section; and

a control device,

wherein the control device causes the GNSS device to continuously obtain the position information while causing the horizontal rotating section leveled by the leveling section to make one full rotation, and is configured to compute geographical coordinates and an azimuth angle on the basis of the position information obtained throughout the full rotation,

wherein of the satellites from which the GNSS device obtains the observation values, the control device selects only satellites capable of outputting observation values throughout the full rotation, and

wherein the control device is configured to create a shape filter having a ring shape and a predetermined width with respect to a circle having a radius equivalent to a distance between the vertical axial center and the GNSS antenna, and match the shape filter to a position in which the number of pieces of the position information located within the shape filter is highest.

8. The surveying device according to claim 7,

wherein the control device is configured to fit a circle relative to the position information within the shape filter and compute center coordinates of the circle that is fitted.

9. The surveying device according to claim 8,

wherein the control device includes a communication section configured to obtain measurement information of a known observation point, and is configured to compute the geographical coordinates on the basis of the measurement information obtained through the communication section.

10. The surveying device according to claim 9,

wherein the control device is configured to set a coordinate obtainment position at a desired position of the GNSS antenna and at least one coordinate obtainment position at a position of the GNSS antenna rotated from the coordinate obtainment position by a predetermined angle, stop rotation of the horizontal rotating section for a predetermined amount of time at each of the coordinate obtainment positions, and compute the azimuth angle on the basis of position information obtained at each of the coordinate obtainment positions while the rotation of the horizontal rotating section is stopped.

11. The surveying device according to claim 10,

wherein a numerical filter configured to allow values near a center to pass is applied to the position information obtained at each of the coordinate obtainment positions.

12. The surveying device according to claim 11,

wherein each of representative values is selected from each piece of position information obtained at each of the coordinate obtainment positions, and the azimuth angle is computed on the basis of a coordinate difference among the representative values.