Measuring system and method for determining new points

• US 9,772,185 B2
• Filed: 04/13/2012
• Issued: 09/26/2017
• Est. Priority Date: 04/14/2011
• Status: Active Grant

• Current Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Original Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Inventors: Metzler, Bernhard
• Primary Examiner(s): Nguyen, Chuong P
• Application Number:
  US14/002,669
• Publication Number:
  US 20140210663A1
• Time in Patent Office: 1,992 Days
• Field of Search: 34235734, 342451, 701300
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

A geodetic measuring system having at least one reference component which defines a reference point, wherein an absolute position of the reference point is known, and at least one new-point determination component which derives a relative new-point position. It is also possible to derive mutual relative reference information between the reference component and the new-point determination component, in particular for the purpose of referencing with respect to the reference-point position. The measuring system also has an automotive, unmanned, controllable air vehicle, wherein the air vehicle has the reference component which provides the at least one reference point as a mobile reference point. The air vehicle is also designed in such a manner that the reference component can be spatially freely displaced by the air vehicle, in particular can be positioned in a substantially fixed position.

Claims

1. A geodetic surveying system comprising:

at least one reference component, each defining a reference point, wherein an absolute position of the reference point is known; and

at least one new point determination component, which derives a relative new point position, wherein;

a mutual relative reference information between the reference component and the new point determination component is derivable for the purpose of referencing with respect to the reference point position;

the surveying system has an automotive, unmanned, controllable air vehicle;

the air vehicle carries the reference component, by which the at least one reference point is provided as a mobile reference point; and

the air vehicle is implemented in such a manner that the reference component is freely displaceable spatially and is positionable substantially fixed in position by the air vehicle relative to the new point determination component.

2. The geodetic surveying system as claimed in claim 1, wherein

the surveying system has a reference point determination component for the determination of the absolute reference point position in an absolute coordinate system, so that a line of sight between the reference component and respectively the new point determination component and the reference point determination component can be indirectly generated by a specific positioning of the reference component, and a referencing of the new point position in the absolute coordinate system can be carried out, and/or

a number of reference points can be generated by the spatial displacement of the air vehicle, and

the air vehicle is displaceable and positionable in an altitude range of 1 m to 1000 m, and/or

the surveying system has an analysis unit for

detecting and assigning;

the absolute reference point position, which is determined and provided by the reference point determination component, of the reference point; and

the relative reference information between the reference component and the new point determination component including measured angles and/or a distance to the respective reference point, wherein the relative reference information can be determined and provided by the new point determination component as a function of the reference point position and a position of the new point determination component; and

generating a pairing from the assignment of the absolute reference point position and the relative reference information.

3. The surveying system as claimed in claim 2, wherein the air vehicle is displaceable and positionable in an altitude range of 2 m to 50 m.

4. The surveying system as claimed in claim 2, wherein:

the reference component has a reflector; and

the reference point determination component has a geodetic surveying device including a total station or a theodolite, having at least;

a first targeting apparatus including a telescopic sight, wherein the first targeting apparatus is pivotable by a motor to change an alignment thereof with respect to a first base of the surveying device and includes;

a first emission unit which defines a first optical target axis; and

a first beam source for the emission of a first optical measuring beam for the distance measurement in parallel coaxially to the first optical target axis;

first angle measuring functionality for high precision acquisition of the alignment of the first target axis; and

first analysis means for data storage and control of the alignment of the first targeting apparatus, and wherein;

the first measuring beam can be continuously aligned on the reflector so that the absolute reference point position of the reference point can be determined and provided in a geodetically precise manner; and

/or

the reference point determination component has at least one transmitter unit for emitting positioning signals; and

the reference component is implemented in such a manner that the positioning signals are receivable by means of a GNSS antenna, and the reference point position can be determined from the positioning signals, wherein;

the transmitter unit is implemented as a GNSS transmitter including a GNSS satellite, GPS, GLONASS, or Galileo satellite, and the positioning signals are embodied by GNSS signals;

the reference point determination component has a GNSS reference station for emitting GNSS correction signals; and

the reference component is implemented in such a manner that the GNSS correction signals are receivable and the reference point position can be determined from the received GNSS signals and the GNSS correction signals.

5. The surveying system as claimed in claim 2, wherein:

the surveying system has a control unit, wherein the control unit is configured in such a manner that a spatial geometric arrangement of the reference points is automatically definable and the geometric arrangement of the reference points is definable as a function of an optimization to generate the pairing; and

/or

the control unit is configured in such a manner that the air vehicle is positionable as a function of the reference point position, which can be continuously and automatically determined by means of the reference point determination component and/or as a function of the geometric arrangement of the reference points; and

/or

the control unit is configured in such a manner that a flight path is definable and the air vehicle is movable along the flight path where the flight path is definable as a function of the spatial geometric arrangement of the reference points.

6. The surveying system as claimed in claim 1, wherein:

the air vehicle has a sensor unit for determining an alignment of the air vehicle including an inclination sensor, a magnetometer, an acceleration sensor, a yaw rate sensor, and/or a velocity sensor; and

/or

the surveying system has a remote control unit, wherein the remote control unit is implemented in such a manner that a control of the air vehicle and/or a generation of the pairing can be carried out, wherein a communication between the remote control unit and/or the reference point determination component and/or the new point determination component and/or the reference component can be carried out via wire, or by means of radio, infrared, or laser signals; and

/or

the reference component is implemented in such a manner that the reference point position and/or the relative reference information can be provided indirectly by the reference component, wherein the reference component has a transmitter for emitting and/or a receiver unit for receiving the reference point position and/or the relative reference information, wherein the reference point position and/or the relative reference information are transmittable via wire, or by means of radio, infrared, or laser signals, wherein positioning signals can be modulated onto the reference point position.

7. The surveying system as claimed in claim 1, wherein the reference component has the reflector and the new point determination component includes:

a second targeting apparatus, wherein the second targeting apparatus is pivotable by a motor to change an alignment thereof with respect to a second base of the new point determination component and includes;

a second emission unit which defines a second optical target axis;

a second beam source for the emission of a second optical measuring beam for distance measurement coaxially to the second optical target axis;

second angle measuring functionality for high-precision acquisition of the alignment of the second target axis; and

second analysis means for data storage and control of the alignment of the second targeting apparatus, and wherein;

the second measuring beam can be continuously aligned on the reflector so that the relative reference information for the position referencing of the new point determination component can be determined and provided as a function of the reference point position, so that the pairing and/or the new point position and/or a position of a measurable target point can be determined in the absolute coordinate system;

or

the reference component has a pseudo-satellite module for emitting the positioning signals and the positioning signals represent the absolute reference point position, and the new point determination component has a pseudo-satellite receiver, wherein the pseudo-satellite receiver is implemented in such a manner that the positioning signals emitted by the pseudo-satellite module are receivable and the relative reference information can be determined and provided, so that the new point position can be determined in the absolute coordinate system.

14. An automotive, unmanned, controllable air vehicle for a surveying system as claimed in claim 1, wherein the air vehicle is freely displaceable spatially and positionable substantially fixed in position, relative to the new point determination component, wherein the air vehicle carries a reference component for providing a mobile reference point.

15. The air vehicle as claimed in claim 14 for a surveying system, wherein:

control data for controlling the air vehicle are receivable and/or

the control data for controlling the air vehicle are derivable by a processing unit from receivable items of reference information to determine an absolute reference point position and an air vehicle alignment can be determined by a sensor unit assigned to the air vehicle, and the absolute reference point position and the relative reference information can be linked by the processing unit, so that a pairing can be generated, and/or

the air vehicle is implemented in such a manner that;

the mobile reference point is spatially displaceable, and positionable substantially fixed in position, by the air vehicle, so that a number of reference points and pairings can be generated; and

the air vehicle is displaceable and positionable in an altitude range of 1 m to 1000 m; and

/or

the reference component has a pseudo-satellite module for emitting positioning signals for determining the relative reference information for determining a new point position in an absolute coordinate system; and

/or

the reference component has a reflector for determining the relative reference information by targeting the reflector using a laser beam, so that the pairings and/or the new point position can be determined in the absolute coordinate system for a position of a measurable target point.

16. The air vehicle as claimed in claim 15 for a surveying system, the air vehicle is displaceable and positionable in an altitude range of 2 m to 50 m.

17. A use of an unmanned, controllable, automotive air vehicle for carrying a reference component for a surveying system as claimed in claim 1.

8. A geodetic referencing method using:

at least one reference component, each defining a reference point, wherein an absolute position of the reference point is known; and

at least one new point determination component, which derives a relative new point position, wherein the method comprise the steps;

for the purpose of referencing with respect to the reference point position, deriving a mutual relative reference information between the at least one reference component and at least one new point determination component;

providing the at least one reference point as a mobile reference point by the reference component;

carrying the reference component by an automotive, unmanned, controllable air vehicle; and

implementing the air vehicle in such a manner that the reference component is freely displaced spatially and substantially fixed in position, by the air vehicle relative to the new point determination component.

9. The geodetic referencing method as claimed in claim 8, wherein:

the absolute reference point position is determined in an absolute coordinate system using a reference point determination component, and/or

by a specific positioning of the reference component, a line of sight is indirectly generated between the reference component and respectively the new point determination component and the reference point determination component and a referencing of the new point position in the absolute coordinate system is carried out, and/or

the mobile reference point is spatially displaced by the air vehicle, so that a number of reference points is generated, and the air vehicle is displaced and positioned in an altitude range of 1 m to 1000 m; and

/or

an acquisition and assignment;

of the absolute reference point position of the reference point, which is determined and provided by the reference point determination component, and

the relative reference information of measured angles and/or a distance to the respective reference point, wherein the relative reference information is determined and provided by the new point determination component as a function of the reference point position and a position of the new point determination component; and

a generation of a pairing from the assignment of the absolute reference point position and the relative reference information is performed.

10. The geodetic referencing method as claimed in claim 9, wherein the mobile reference point is spatially displaced by the air vehicle, so that a number of reference points is generated, and the air vehicle is displaced and positioned in an altitude range of 2 m to 50 m.

11. The geodetic referencing method as claimed in claim 10, wherein, in the scope of the method, positioning signals provided by the reference point determination component are received by the reference component including GNSS signals provided by GNSS satellites and the GNSS signals are represented by GPS, GLONASS, or Galileo signals, and the reference point position is determined and provided from the received positioning signals, and/or

the determination and provision of the reference point position is performed by means of a first measuring beam, which is reflected on the reference component and is emitted by the reference point determination component;

and/or

a determination of an alignment of the air vehicle in the pitch, roll, and yaw directions is performed, wherein the determination of the alignment is performed by means of an internal sensor unit assigned to the air vehicle by means of inclination sensor, magnetometer, acceleration sensor, yaw rate sensor, and/or velocity sensor.

12. The geodetic referencing method as claimed in claim 10, wherein:

in the scope of the method, the positioning signals and the pseudo-satellite signals representing the reference point position, are emitted by the reference component and the positioning signals are received by new point determination component and the relative reference information is determined as a function of the reference point position, so that the new point position is determined in the absolute coordinate system;

or

the determination of the relative reference information is performed by means of a second measuring beam, which is emitted by the new point determination component and is reflected on the reference component, so that the pairing and/or the new point position are determined in the absolute coordinate system a position of a measured target point.

13. The geodetic referencing method as claimed in claim 9, wherein:

a spatial geometric arrangement of the reference points is defined automatically and the geometric arrangement of the reference points is optimized as a function of the generation of the pairing; and

/or

the air vehicle is positioned as a function of the reference point position, which can be continuously automatically determined, and/or as a function of the geometric arrangement of the reference points; and

/or

a flight path is defined and the air vehicle is moved along the flight path where the flight path is defined as a function of the spatial geometric arrangement of the reference points.

18. A computer program product, which is stored on a non-transitory tangible machine-readable carrier having program code for carrying out the method as claimed in claim 8.