Method and device for determining the actual position of a geodetic instrument

• US 8,077,913 B2
• Filed: 09/09/2004
• Issued: 12/13/2011
• Est. Priority Date: 09/22/2003
• Status: Active Grant

• Current Assignee: Leica Geosystems AG (Hexagon AB)
• Original Assignee: Leica Geosystems AG (Hexagon AB)
• Inventors: Euler, Hans-Juergen
• Primary Examiner(s): Patel, Jayesh A
• Application Number:
  US10/595,189
• Publication Number:
  US 20070133012A1
• Time in Patent Office: 2,651 Days
• Field of Search: 382/103, 382/106, 382/287, 382/294, 382/302, 386/227, 701/213
• US Class Current: 382/103
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

In order to determine the actual position (A) of a geodetic measuring instrument (1) inside a dead range (T) wherein signals originating from a positioning system are shadowed, two reference structures (5) are detected from at least two known positions and the distances associated with the reference structures (5) are measured. Image information linked to said distance measurements is captured. Said information contains data on the arrangement of the reference structures (5). The actual position (1) can be derived from subsequent capture of the reference structures (5) from a position inside the dead range (T). Image processing methods are used advantageously to identify and measure the reference structures (5).

Claims

1. A method for determining an actual position of a geodetic instrument comprising a global positioning system which is based on the reception of shadowable signals of the global positioning system and a dead range within which the propagation of the shadowable signals of the global positioning system are impaired in such a way that a direct determination of the actual position by means of the global positioning system is at least limited comprising the following acts:

recording of a first piece of image information from a first known position determined by means of the global positioning system which is based on the reception of shadowable signals of the global positioning system and the dead range within which the propagation of the shadowable signals of the global positioning system are impaired in such a way that a direct determination of the actual position by means of the global positioning system is at least limited, the first piece of image information having at least two identifiable reference structures on a building which can be detected at least from a partial region of the dead range and measurement of at least one first distance from the first known position, the first distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a second piece of image information from a second known position determined by means of the global positioning system, wherein the global positioning system includes a satellite-supported system, the second piece of image information having at least the said two identifiable reference structures on the building and measurement of at least one second distance from the second known position, the second distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a piece of actual image information from the actual position, the actual image information having the said at least two identifiable reference structures on the building and measurement of at least one actual distance from the actual position, the actual distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building, wherein the recording of the first and second pieces of image information and the measurement of the first and second distances are carried out in an automated manner; and

derivation of the actual position of the geodetic instrument by referencing relative to the said at least two identifiable reference structures on the building, wherein in the derivation of the actual position, a transformation is used which links the actual position via the said at least two identifiable reference structures on the building in the first and second image information to the first known position and the second known position, wherein the said at least two identifiable reference structures on the building are tracked and/or identified automatically.

2. The method according to claim 1, further comprising repeating individual acts or a plurality of the acts set forth in claim 1.

3. The method according to claim 1, wherein one distance is measured in each case in the measurement of the distances to each of the said at least two identifiable reference structures on the building.

4. The method according to claim 1, wherein a measurement of the distance to each point of a detected image is effected in the recording of the image information.

5. The method according to claim 1, wherein the derivation of the actual position is effected by means of a triliniear surveying method.

6. The method according to claim 1, wherein the measurement of the distances is carried out by means of optical distance measurement.

7. The method according to claim 6, wherein the measurement of the distances is carried out by means of laser distance measurement.

8. The method according to claim 1, wherein the global positioning system includes an Earth-supported system.

9. The method according to claim 8, wherein the global positioning system includes a Total Positioning System.

10. The method according to claim 1, wherein at least the first piece of image information is stored and the said at least two identifiable reference structures on the building in the second piece of image information and/or the actual image information are identified by image processing methods.

11. The method according to claim 10, wherein the said at least two identifiable reference structures on the building in the second piece of image information and/or the actual image information are identified by matching methods.

12. The method according to claim 1, wherein the recording of the first and second pieces of image information and the measurement of the first and second distances are constantly repeated.

13. A device for determining an actual position of a geodetic instrument, the device comprising the following:

an image recording unit;

a telemeter; and

a data processing unit configured to derive the actual position, wherein the device is configured to perform the following method in an automated manner;

recording of a first piece of image information from a first known position determined by means of a global positioning system which is based on the reception of shadowable signals of the global positioning system and the dead range within which the propagation of the shadowable signals of the global positioning system are impaired in such a way that a direct determination of the actual position by means of the global positioning system is at least limited, the first piece of image information having at least two identifiable reference structures on a building which can be detected at least from a partial region of the dead range and measurement of at least one first distance from the first known position, the first distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a second piece of image information from a second known position determined by means of the global positioning system, wherein the global positioning system includes a satellite-supported system, the second piece of image information having at least the said two identifiable reference structures on the building and measurement of at least one second distance from the second known position, the second distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a piece of actual image information from the actual position, the actual image information having the said at least two identifiable reference structures on the building and measurement of at least one actual distance from the actual position, the actual distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building, wherein the recording of the first and second pieces of image information and the measurement of the first and second distances are carried out in an automated manner; and

derivation of the actual position of the geodetic instrument by referencing relative to the said at least two identifiable reference structures on the building, wherein in the derivation of the actual position, a transformation is used which links the actual position via the said at least two identifiable reference structures on the building in the first and second image information to the first known position and the second known position, wherein the said at least two identifiable reference structures on the building are tracked and/or identified automatically.

14. The device according to claim 13, wherein the image recording unit includes an image memory and/or an image information memory.

15. The device according to claim 13, wherein the telemeter is a laser telemeter.

16. The device according to claim 13, wherein the telemeter is integrated in the image recording unit.

17. The device according to claim 16, wherein the telemeter is integrated in the image recording unit in the form of a range imaging sensor or of scanning telemeter.

18. The device according to claim 16, wherein the data processing unit is formed in such a way that a limitation of the direct determination of the actual position by means of the global positioning system is recognizable and an alarm and/or an automated derivation of the actual position is triggered.

19. The device according to claim 16, further comprising an inclinometer.

20. The device according to claim 16, further comprising a direction meter.

21. The device according to claim 20, wherein the direction meter includes a magnetic compass.

22. A geodetic instrument comprising a unit for global position determination by means of a global positioning system based on the reception of shadowable signals of the global positioning system and a device comprising:

an image recording unit;

a telemeter, wherein the telemeter is integrated in the image recording unit;

and a data processing unit configured to derive an actual position, wherein the device is configured to perform the following method in an automated manner;

recording of a first piece of image information from a first known position determined by means of the global positioning system which is based on the reception of shadowable signals of the global positioning system and the dead range within which the propagation of the shadowable signals of the global positioning system are impaired in such a way that a direct determination of the actual position by means of the global positioning system is at least limited, the first piece of image information having at least two identifiable reference structures on a building which can be detected at least from a partial region of the dead range and measurement of at least one first distance from the first known position, the first distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a second piece of image information from a second known position determined by means of the global positioning system, wherein the global positioning system includes a satellite-supported system, the second piece of image information having at least the said two identifiable reference structures on the building and measurement of at least one second distance from the second known position, the second distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a piece of actual image information from the actual position, the actual image information having the said at least two identifiable reference structures on the building and measurement of at least one actual distance from the actual position, the actual distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building, wherein the recording of the first and second pieces of image information and the measurement of the first and second distances are carried out in an automated manner; and

derivation of the actual position of the geodetic instrument by referencing relative to the said at least two identifiable reference structures on the building, wherein in the derivation of the actual position, a transformation is used which links the actual position via the said at least two identifiable reference structures on the building in the first and second image information to the first known position and the second known position, wherein the said at least two identifiable reference structures on the building are tracked and/or identified automatically.

23. The geodetic instrument according to claim 22, wherein the unit for global position determination including a reflector for geodetic surveying or a GPS receiver.

24. A non-transitory data medium having a computer program stored on the data medium for carrying out the method comprising;

recording of a first piece of image information from a first known position determined by means of a global positioning system which is based on the reception of shadowable signals of the global positioning system and the dead range within which the propagation of the shadowable signals of the global positioning system are impaired in such a way that a direct determination of the actual position by means of the global positioning system is at least limited, the first piece of image information haying at least two identifiable reference structures on a building which can be detected at least from a partial region of the dead range and measurement of at least one first distance from the first known position, the first distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a second piece of image information from a second known position determined by means of the global positioning system, wherein the global positioning system includes a satellite-supported system, the second piece of image information having at least the said two identifiable reference structures on the building and measurement of at least one second distance from the second known position, the second distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building;

recording of a piece of actual image information from the actual position, the actual image information having the said at least two identifiable reference structures on the building and measurement of at least one actual distance from the actual position, the actual distance being coordinated indirectly or directly with the said at least two identifiable reference structures on the building, wherein the recording of the first and second pieces of image information and the measurement of the first and second distances are carried out in an automated manner; and

derivation of the actual position of the geodetic instrument by referencing relative to the said at least two identifiable reference structures on the building, wherein in the derivation of the actual position, a transformation is used which links the actual position via the said at least two identifiable reference structures on the building in the first and second image information to the first known position and the second known position, wherein the said at least two identifiable reference structures on the building are tracked and/or identified automatically.