GLOBAL COORDINATE CREATION METHOD FOR PRECISION MEASUREMENT OF HOLLOW FRAME

• US 20090273512A1
• Filed: 09/21/2007
• Published: 11/05/2009
• Est. Priority Date: 09/21/2006
• Status: Active Grant

• Current Assignee: Samsung Heavy Industries Company Limited (Samsung Group)
• Original Assignee: Samsung Heavy Industries Company Limited (Samsung Group)
• Inventors: Chung, Seong-Youb, Kim, Jae-Hoon, Kim, Sung-Han, Park, Young-Jun, Song, Se-Hwan
• Granted Patent: US 7,893,874 B2
• Time in Patent Office: Days
• US Class Current: 342/357.310
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters

Abstract

A method of creating a global coordinate of a polyhedral hollow frame includes a first step of providing a plurality of transmitters on a reference surface in the hollow frame, providing a plurality of reference sensors to create the coordinate of the reference surface, and creating a local coordinate frame of the reference surface on the basis of the positional coordinates measured by the reference sensors; a second step of providing reference sensors at common points of a first vertical surface neighboring to the reference surface to measure and store the coordinates of the common points; a third step of providing a plurality of transmitters and reference sensors on the first vertical surface neighboring to the reference surface to create a local coordinate frame of the first vertical surface; a fourth step of transforming the local coordinate frames created at the first and the third steps into a global coordinate frame using the coordinates of the common points measured at the second step; a fifth step of repeatedly performing the second step to the fourth step on remaining vertical surfaces of the polyhedral hollow frame to transform the respective local coordinate frames into a unified global coordinate frame; a sixth step of providing transmitters on an upper surface neighboring to each vertical surface to obtain the relationship between the global coordinate frame and a local coordinate frame of the upper surface using the coordinates of the common point; and a seventh step of creating and applying a global coordinate frame using the relationship obtained at the sixth step.

Claims

1. A method of creating a global coordinate of a polyhedral hollow frame, the method comprising the steps of:

a first step of providing a plurality of transmitters on a reference surface in the hollow frame, providing a plurality of reference sensors to create the coordinate of the reference surface, and creating a local coordinate frame of the reference surface on the basis of the positional coordinates measured by the reference sensors;

a second step of providing reference sensors at common points of a first vertical surface neighboring to the reference surface to measure and store the coordinates of the common points;

a third step of providing a plurality of transmitters and reference sensors on the first vertical surface neighboring to the reference surface to create a local coordinate frame of the first vertical surface;

a fourth step of transforming the local coordinate frames created at the first and the third steps into a global coordinate frame using the coordinates of the common points measured at the second step;

a fifth step of repeatedly performing the second step to the fourth step on remaining vertical surfaces of the polyhedral hollow frame to transform the respective local coordinate frames into a unified global coordinate frame;

a sixth step of providing transmitters on an upper surface neighboring to each vertical surface to obtain the relationship between the global coordinate frame and a local coordinate frame of the upper surface using the coordinates of the common point; and

a seventh step of creating and applying a global coordinate frame using the relationship obtained at the sixth step.

2. The method of claim 1, wherein the reference sensors are provided at the common points having three or more marked points when the IGPS is provided on a vertical surface in the hollow frame.

3. The method of claim 1, wherein the common points are points where signals are received from the transmitters on a surface neighboring to the reference surface corresponding to a predetermined local coordinate when the respective local coordinates are measured.

4. The method of claim 1, wherein, when a global coordinate frame at a bottom surface is {G};

a coordinate frame by three or more reference sensors is {R} represented by

↓

_R^GT;

and

a coordinate frame at a vertical surface is {H} represented by

↓

_R^HT,

a coordinate frame transform between {H} and {G} is represented by

_H^GT=_R^GT(_R^HT)<sup>−

1</sup>.