Surveying pole

• US 10,704,902 B2
• Filed: 12/30/2015
• Issued: 07/07/2020
• Est. Priority Date: 12/30/2015
• Status: Active Grant

• Current Assignee: Fundacio Centre Technologic de Telecomunicacions de Catalunya
• Original Assignee: Fundacio Centre Technologic de Telecomunicacions de Catalunya
• Inventors: Pares Calaf, M. Eulalia, Calero Scanlan, David, Fernandez Murcia, Enric
• Primary Examiner(s): Bennett, George B
• Application Number:
  US16/075,912
• Publication Number:
  US 20200166338A1
• Time in Patent Office: 1,651 Days
• Field of Search: 33 1 T, 33293
• CPC Class Codes: G01C 1/02 Theodolites
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01C 15/12 Instruments for setting out fixed angles, e.g. right angles
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

Current GNSS-inclinable surveying pole systems rely on magnetometer sensors. The use of these types of sensor implies performance degradation when operating near magnetic fields. The invention provides a new approach to ranging pole systems, able to provide requested performance even when working near magnetic fields.

Claims

1. A positioning pole for ground point position determination comprising a rod with a bottom end for placing on the ground point to be determined and position determination means on its top end, the position determination means comprising:

satellite positioning means for acquiring the geodetic coordinates of a top end reference point at a certain pole inclination;

inertial sensing means for acquiring inertial data of the top end reference point corresponding to the pole inclination; and

processing means for determining the coordinates of the ground point as a function of the length of the rod, and the acquired geodetic coordinates and inertial data corresponding to at least three different rod inclinations, wherein a plurality of ground point candidates emerge corresponding to each rod inclination and the final ground point position corresponds to the candidate which is common to the at least three different pole inclinations.

2. The pole of claim 1, wherein the position determination means further comprises memory storage means for storing all data acquired and the result of the determinations.

3. The pole of claim 2, wherein the satellite positioning means comprises a GNSS antenna and a GNSS receiver, and wherein the geodetic coordinates of the top end reference point corresponds to those of the GNSS antenna.

4. The pole of claim 3, wherein the processing means comprises acquisition means for acquiring the geodetic coordinates from the satellite positioning means and for acquiring the inertial data from the inertial sensing means.

5. The pole of claim 4, wherein the processing means comprises data processing means for determining the coordinates of the ground point using the data of the acquisition means, wherein the ground point position is determined as a function of the pitch angle and the roll angle of the pole.

6. The pole of claim 4, wherein the processing means further comprises time-tagging means for time-tagging the position data as well as inertial data and further comprises communication means for delivering the acquired data and/or the result of the determinations to an external device, and further comprising indicator means for indicating when to tilt the pole in a new inclination attitude and for indicating when the ground point has been determined.

13. A method of producing an improved surveying pole from a conventional surveying pole, the method comprising replacing all electronic devices of the conventional pole with a single position determination means as claimed in claim 1 placed on the top end of the pole.

7. A method of ground point position determination by a positioning pole, the positioning pole comprising a rod with a bottom end for placing on the ground point to be determined and positioning determining means on its top end, the method comprising an initialization phase comprising:

acquiring, for at least three different rod inclinations, the geodetic coordinates and inertial data of a top end reference point; and

determining the coordinates of the ground point as a function of the length of the rod, and the acquired geodetic coordinates and inertial data corresponding to at least three different rod inclinations, wherein a plurality of ground point candidates emerge corresponding to each rod inclination and the final ground point position corresponds to the candidate which is common to the at least three different pole inclinations.

8. The method of claim 7, wherein the at least three different rod inclinations comprises tilting the top end of the pole while maintaining the bottom end fixed on the same ground point, for three, or at least four, or preferably five different rod inclinations, wherein for the case of three inclinations, the top end at each inclination preferably corresponding to the corners of an equilateral triangle, wherein for the case of four inclinations, the top end at each inclination preferably corresponding to the corners of a square, and wherein for the case of five inclinations, the top end at each inclination preferably corresponding to the corners of a square and its central point.

9. The method of claim 8, comprising determining the pitch angle and the roll angle of the pole from the inertial data corresponding to each rod inclination as a function of the medium acceleration measured in the x-axis and y-axis, respectively and wherein the ground point position is determined also as a function of the pitch and roll angles.

10. The method of claim 9, comprising determining the absolute heading angle of the pole based on the current pitch angle, the current roll angle and the geodetic coordinates of a previous and current ground points.

11. The method of claim 8, further comprising an error correction mechanism comprising estimating inertial sensor bias values and subtracting them from the acquired inertial data values, wherein the bias values are accelerometer bias values and gyroscope bias values.

12. The method of claim 9, further comprising a subsequent operational phase without geodetic coordinates and inertial data acquisition, wherein the ground point position is determined as a function of the coordinates of a previous ground point and tracking the differences in pitch, roll, and heading angles.

14. A computer program comprising instructions, once executed on a processor, for performing a method of ground point position determination by a positioning pole, the positioning pole comprising a rod with a bottom end for placing on the ground point to be determined and positioning determining means on its top end, the method comprising an initialization phase comprising:

acquiring, for at least three different rod inclinations, the geodetic coordinates and inertial data of a top end reference point; and

determining the coordinates of the ground point as a function of the length of the rod, and the acquired geodetic coordinates and inertial data corresponding to at least three different rod inclinations, wherein a plurality of ground point candidates emerge corresponding to each rod inclination and the final ground point position corresponds to the candidate which is common to the at least three different pole inclinations.

15. A non-transitory computer readable medium comprising instructions, once executed on a processor, for performing a method of ground point position determination by a positioning pole, the positioning pole comprising a rod with a bottom end for placing on the ground point to be determined and positioning determining means on its top end, the method comprising an initialization phase comprising:

acquiring, for at least three different rod inclinations, the geodetic coordinates and inertial data of a top end reference point; and

determining the coordinates of the ground point as a function of the length of the rod, and the acquired geodetic coordinates and inertial data corresponding to at least three different rod inclinations, wherein a plurality of ground point candidates emerge corresponding to each rod inclination and the final ground point position corresponds to the candidate which is common to the at least three different pole inclinations.