Method for determining the spatial coordinates of points, application of said method to high-precision topography, system and optical device for carrying out said method

• US 5,191,385 A
• Filed: 10/07/1991
• Issued: 03/02/1993
• Est. Priority Date: 10/12/1990
• Status: Expired due to Fees

• Current Assignee: Institut Geographique National
• Original Assignee: Institut Geographique National
• Inventors: Kasser, Michel
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US07/774,038
• Time in Patent Office: 512 Days
• Field of Search: 356/4, 356/5, 356/152
• US Class Current: 356/5.01
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves

Abstract

Elements of an optical system are placed at points (A) and the spatial coordinates of these points are measured. The optical system comprises on the one hand an optical device which may be mounted on board an aircraft (2) and on the other hand reflectors (10) such as reflectors of the cube corner type. The optical device includes a pulsed laser source and a detector which is sensitive to the radiation emanating from the laser source. The desired spatial coordinates are determined from measurements of transit times of reflected laser pulses.

The pulses (8) emitted by the laser source are caused to diverge in order to increase the width of their angular field and the radiation reflected from the reflectors (10) is collected in a wide field and transmitted to the detector.

The system is applicable in particular to high-precision topography for the purpose of analyzing land subsidence.

Claims

1. A method for determining the spatial coordinates of points (A) at which are placed elements of an optical system, the optical system comprising an optical device (13) including a pulsed laser source (14) and a detector (16) which is sensitive to the radiation emanating from said laser source (14), and reflectors (10), the method comprising the steps of:

emitting pulses of light from said laser source (14);

forming a conical divergent beam by causing the pulses of laser radiation emanating from the laser source to diverge;

collecting the radiation reflected from the reflectors (10) in a wide field in order to transmit the same to the detector;

detecting said pulses of light which are reflected from a reflector and collected, by means of said detector (16);

measuring the transit times (Dt_i) of the pulses emitted by the laser source (14), reflected from a reflector (10) and detected by the detector (16); and

determining relationships between said spatial coordinates in response to said transmit times measured in said step of measuring.

2. A method according to claim 1, wherein the conical divergent beam (8) has a semivertical angle (α

) within the range of 5°

to 35°

.

3. A method according to claim 1, further including the step of evaluating beforehand approximate spatial coordinates of the optical device (13) by means of an auxiliary positioning system.

4. A method according to claim 1, further including the steps of withdrawing a fraction of the laser pulse emitted by the laser source (14) before said laser pulse is caused to diverge, and directing said fraction to the detector (16) in order to deliver a transit time reference (t_o).

5. A method according to claim 1, further including the steps of amplifying the output signal of the detector (16) which is representative of the light intensity collected by the detector (16) and subjecting the amplified signal to digital sampling.

6. A method according to claim 5, wherein the digital sampling frequency of the amplified output signal of the detector (16) is higher than 1 gigahertz.

7. A method according to claim 5, further including the steps of:

withdrawing a fraction of the laser pulse emitted by the laser source (14) before said laser pulse is caused to diverge,

directing said fraction to the detector (16) in order to deliver a transit time reference (t_o),

processing the amplified and sampled output signal of the detector (16) in order to identify the peaks (p_i) of said output signal corresponding to reflection of the laser pulse form a reflector (10) and in order to determine the transit time (Dt_i) corresponding to the time intervals (t_i -t_o) between said transit time reference (t_o) and the instant (t_i) of appearance of said peaks (p_i), and

recording a set of values representing said transit times (Dt_i () in memory (66).

8. A method according to claim 7, wherein the step which involves processing of the amplified and sampled signal and the step which involves recording in memory (66) are performed during the period which elapses between two successive emissions of pulses by the laser source (14).

9. A method according to claim 7, wherein the step which involves processing of the amplified and sampled signal includes a step of validating of the peaks (P_i) of the amplified and sampled output signal in order to eliminate peaks having a time-width exceeding a threshold value which is determined as a function of the duration of the pulse emitted by the laser source (14).

10. A method according to claim 1, wherein the optical device (13) is installed on board an aircraft (2).

11. A method according to claim 1, wherein each reflector (10) is rigidly fixed to a structure (46) which is anchored in the ground (4).

12. A method according to claim 1, further including the step of utilizing the measured transit times (Dt_i) of the laser pulses in order to determine with accuracy the spatial coordinates of the points (A) at which the reflectors (10) are placed.

13. A method according to claim 12 as applicable to high-precision topography, wherein the reflectors (10) are installed in the vicinity of a zone of extraction f geological resources, the predetermined spatial coordinates of the points (A) located at intervals in said zone being intended to supply information on subsidences within said zone.

33. An optical device (13) used for determining the spatial coordinates of points (A) according to the method of claim 1, comprising:

a laser source (14),

a detector (16) which is sensitive to the radiation emanating from said laser source (14),

divergent optical means (26,

     28) for causing the radiation emitted by the laser source (14) to diverge in order to form a conical divergent beam (8), and

a wide-field light collector (30) placed in front of the detector (16) in order to transmit thereto a radiation which is collected in a wide field.

34. A method according to claim 3, wherein said auxiliary positioning system includes a radio transmission system (6, 40, 42).

14. A system for determining the spatial coordinates of points, comprising:

an optical device (13) including;

a pulsed laser source (14),

a detector (16) which is sensitive to the radiation emanating form said laser source (14),

divergent optical means (26,

     28) for causing divergence of the radiation emitted by the laser source (14) in order to form a conical divergent beam (8), and

a wide-field light collector (30) placed in front of the detector (16) in order to transmit thereto radiation which is collected in a wide field;

reflectors (10) which reflect radiation from the pulsed laser source to the detector; and

means (34, 36,

     68) for processing the output signal of the detector (16).

15. A system according to claim 14, wherein the divergent optical means (26, 28) comprise at least one planoconcave lens (26, 28).

16. A system according to claim 14, wherein the divergent optical means (26, 28) produce a conical divergent beam (8) having a semivertical angle (α

) within the range of 5°

to 35°

.

17. A system according to claim 14, wherein the laser source (14) delivers pulses having a time-duration of less than 50 ns.

18. A system according to claim 14, wherein the wide-field light collector (30) comprises a spherical lens (30).

19. A system according to claim 14, wherein the detector (16) comprises a pin photodiode (16).

20. A system according to claim 19, wherein the area of the sensitive surface (17) of the pin photodiode (16) is larger than 10 mm².

21. A system according to claim 18, wherein the sensitive surface (17) of the detector (16) is disposed in substantially tangent relation to the focal sphere (C) of the spherical lens (30).

22. A system according to claim 14, wherein the optical device (13) comprises in addition a dielectric mirror (22) which directs the radiation emanating from the laser source (14) to the divergent optical means (26, 28) and an optical-fiber segment (24) which extends between the rear face of the dielectric mirror (22) and the detector (16) in order to collect and direct to the detector (16) a fraction of the radiation emanating from the laser source (14), said fraction being withdrawn from the transmission loss of the dielectric mirror (22).

23. A system according to claim 14, wherein the optical device (13) is located on board an aircraft (2).

24. A system according to claim 23, wherein said system comprises in addition means for approximate evaluation of the spatial coordinates of the aircraft (2), such as a radio-transmission positioning system (6, 40, 42).

25. A system according to claim 14, wherein each reflector (10) is a reflector of the cube corner type, the vertex of which defines a point (A), the spatial coordinates of which are determined.

26. A system according to claim 14, wherein each reflector (10) is rigidly fixed to a structure (46) which is anchored in the ground (4).

27. A system according to claim 26, wherein the structure (46) which is anchored in the ground (4) comprises a substantially vertical pillar (52), the reflector (10) being placed on top of said pillar.

28. A system according to claim 26, wherein a window (54) having parallel faces is placed above each reflector (10), said window (54) being inclined with respect to a horizontal plane (P_H).

29. A system according to claim 14, wherein the means for processing the output signal of the detector (16) comprise an amplifier (34), a digital sampler (36) which samples the signal amplified by the amplifier (34) in order to convert it to histogram data which it stores in a buffer memory (37) and a microprocessor (68) which reads the histogram data stored in the buffer memory (37), performs a calculation of the transit times (Δ

t_i) of the reflected pulses and records in a memory (66) a set of values representing said transit times (Δ

t_i)

30. A system according to claim 29, wherein the amplifier (34) has a passband, the upper limit of which is below 50 MHz.

31. A system according to claim 19, wherein the pin photodiode (16) is supplied with reverse bias by an electric supply (62) and wherein a load resistor (64) is mounted in parallel with the circuit branch comprising the supply (62) and the pin photodiode (16).

32. A system according to claim 29, wherein the digital sampler (36) has a sampling frequency higher than 1 gigahertz.