measurement system and method for determining points

专利摘要:
MEASUREMENT SYSTEM AND METHOD FOR DETERMINING POINTS.The present invention relates to a geodetic measurement system that has at least one reference component that defines a reference point, in which an absolute position of the reference point is known, and at least one new point determination component ( 31), which derives a new relative point position (2). It is also possible to derive mutual reference information between the reference component and the new point determination component, in particular for the purpose of referencing in relation to the reference point position. The measurement system (1) also has a controllable, unmanned, automotive aerial vehicle, in which the aerial vehicle (50) has the reference component that provides at least one reference point as a movable reference point. The aerial vehicle (50) is also designed so that the reference component can be spatially and freely moved by the aerial vehicle (50), in particular, can be positioned in a substantially fixed position.
公开号:BR112013026194A2
申请号:R112013026194-3
申请日:2012-04-13
公开日:2020-11-03
发明作者:Bernhard Metzler
申请人:Hexagon Technology Center Gmbh；
IPC主号:

专利说明:

Descriptive Report of the Invention Patent for "MEASUREMENT SYSTEM AND METHOD FOR DETERMINING POINTS". The present invention relates to an inspection system that has an unmanned, controllable, automotive aerial vehicle, as claimed in the preamble to claim 1, a method for obtaining position reference, as claimed in claim 8, and an aerial vehicle, as claimed in claim 14, for use in a system according to the invention.
Various geodetic inspection devices have been known since antiquity to measure one or, in particular, a plurality of target points.
The distance and direction or angle from a measuring device to the target point to be measured are recorded as spatial pattern data and also, in particular, the absolute position of the measuring device is detected, in addition to any points of existing reference points.
In general, known examples of such geodetic inspection devices are represented by theodolites, tachometers and total stations, which are also referred to as electronic tachometers or computer tachometers.
A prior art geodetic measuring device is described, for example, in published application EP 1,686,350. Such devices have electrosensory angle and distance measurement functions that allow a determination of the direction and distance for a selected target.
The angle or distance dimensions are certified in the internal reference system of the device and must, possibly, still be connected to an external reference system for an absolute position determination.
In many geodetic applications, points are inspected when placing specially designed target objects.
They typically consist of a plumb stick that has a targetable module, for example, a reflector to define the measurement section or the measurement point.
These target objects are targeted by means of an inspection device, a direction and distance to the objects are determined and an object position is derived.
Similar to this point measurement, the marking of already known target points or points, whose position was defined before a marking procedure, can be performed.
In contrast to point measurement, in this case, the position or coordinates of the points to be marked are known and must be marked.
For such a marking procedure, a plumb stick or an inspection stick is also conventionally used, which is guided by a user and positioned at a target point.
To this end, the user can move towards the target position of the target point based on the position information generated by the inspection device, in which the inspection stick can be automatically targeted from the inspection device by a second person or by an automatic mechanism designated for the inspection device.
If the target point has been reached, the user can mark the point.
Modern inspection devices, such as a total station for such marking and inspection tasks, have microprocessors for additional digital processing and storage of detected measurement data.
The devices are typically produced in a compact and integrated construction, in which the elements of measuring coaxial distance and angle, computer, control and storage units are normally integrated into a device.
Depending on the level of development of the total station, the means for the motorization of the target optical elements, for measuring the reflector free route, for tracking and automatic target search and for remote control of the entire device are integrated.
Total stations known from the prior art also have a radio data interface to establish a radio connection with external peripheral components, for example, with a data acquisition device, which can be deployed, in particular, as a portable data, remote control unit, field computer, notebook computer, small computer or PDA.
Through the data interface, it is possible to issue measurement data acquired and stored by the total station for additional external processing, for reading in measurement data acquired externally for storage and / or further processing in the total station, for insertion or emission of data. signs of con-
remote control for the remote control of the total station or an additional external component, in particular, when using the mobile field, and for the transfer of control software to the total station.
In order to aim at or target the target point to be inspected, geodetic inspection devices of this type have, for example, a telescopic view, for example, an optical telescope, such as a targeting unit.
The telescopic view is, in general, rotatable about a geometrical axis in a vertical position and around a geometric axis with horizontal inclination in relation to a base of the measuring device, so that the telescope can be aligned to the point to be inspected when tilting and tilting.
Modern devices may have, in addition to the optical view channel, a camera, which is integrated with the telescopic view and is aligned coaxially or in parallel, for example, to obtain an image, in which the image obtained can be in particular, displayed as a live image on the display screen of the display control unit and / or on a display screen of the peripheral device used for the remote control - for example, the data agent or the display unit. remote operation.
An optical element of the targeting unit can have a manual focus - for example, a screw configured to modify the position of an optical focusing element - or it can have an autofocus, in which the change of the focal position is performed, for example, by servomotors.
Automatic focusing units for telescopic views of geodetic devices are known, for example, from 197.107.22, DE 199.267.06 or DE 199.495.80. The aforementioned inspection systems and prior art applications share the characteristic that a position of an inspection device or an inspection stick must be determined singly and with geodetic precision and that position must be specified by me. - us in an absolute coordinate system.
To this end, a transformation of the respective position information measured from an internal measuring coordinate system into the absolute order coordinate system can be performed.
A position determination method that has a transformation
Coordinate information for points to be inspected using a geodetic device is presented, for example, in US 2009/0082992. In principle, the intrinsic position of the geodetic device, that is, the station coordinates of the measuring device, or the position of the 5 new points to be inspected can be derived as a so-called free measurement position in relation to measuring points. landmarks, known as landmarks.
This procedure is also called as a reference of the position measuring device or the new points in relation to the measured and known positioned reference points.
To this end, first, the position of the known reference points in relation to the point of view is calculated in a local coordinate system.
With the aid of the known coordinates of the referenced points, when the number of measurements is provided, equalized transformation parameters are calculated, from which the searched station coordinates or the searched coordinates of the new points are derivable.
In addition, a target unit or inspection stick supplied with a target unit can be targeted by a stationary position determination unit, for example, a total station and the automatic targeting of a user or operator to a provided target point it can be performed using image data recorded by the stationary position determination unit.
To that end, in US 7,222,021 or the corresponding EP 1,293,755, an inspection system, designated in this patent application as an operator guidance system, is proposed, as having a stationary measurement unit (unit of determination position), which is equipped with imaging means, for example, a camera, and a mobile station that has the function of a mobile target unit, which is equipped with display means, for example, a screen display to display a user's current position, based on the stored landscape images or current data and images, which are viewed from the stationary measurement unit.
Furthermore, it is presented how an operator can be directed to the target point through a correlation between the current position data, which are measured from the stationary measurement station, including the camera image, for the mobile station, stored data that has the provided position of the target point when marking on the target unit display screen, for example, by directional display using an arrow on the display screen.
In addition, positioning or directing a user to a previously known target position can be performed based on GNSS signals without the use of an inspection device.
An inspection pole can have a GNSS receiver and a processing unit or a controller that can be attached to the inspection pole to determine position coordinates.
When comparing the known target position to the respective position guaranteed by the GNSS signals, the user can therefore find the target point and carry out possible marking on the spot.
An additional position determination method for determining an optical geodetic device's position is known from WO 2009/039929. In this case, the position determination is carried out using a mobile unit, which is equipped with a GNSS receiver and a total station.
This method allows a connection of a position determination by GNSS to a position determination based on a geodetic device and, also, a connected use of the respective advantages of both methods.
The condition for the method is that the moving unit, for example, a work machine, has a position determining device, such as a GNSS receiver, with the use of which a position determination is possible at least at some points in time.
GNSS positions are then advantageously determined in real time as working machine reference positions and relative reference point positions assigned to the working machine via the total station to known points in time.
The GNSS positions refer to an external coordinate system and the relative positions refer to an internal coordinate system in relation to the total station.
Both the GNSS position and also a relative position are at least partially determined for points in time that are identical or close to each other in relation to time, where the corresponding positions in relation to time are each designated a 5 to the other in pairs and, therefore, respectively form a position correlated pair in relation to one or two neighboring points in time.
From the correlations of the respective individual pairs, a balanced relationship can now be derived between external and internal reference systems, in which this relationship is represented, in particular, by balanced transformation parameters.
The derived balanced relationship specifies how the external reference system relates to the internal reference system in relation to the total station.
Based on this relationship, for example, the coordinates of the relative positions measured using the total station or the position of the total station itself in the external reference system can be transformed and used for determining the position of the work machine in the external reference system.
A shared requirement to carry out the aforementioned method for determining positions is that a connection, for example, for signal transmission, has to be provided between the respective components used for the determination.
In particular, to measure a target point or a reflector arranged on an inspection pole, an optical contact has to be provided between the inspection device and the reflector, that is, a measuring beam can be aligned directly without interruption. beam at a corresponding target.
Similarly, for a position determination using GNSS signals, it is necessary that a connection can be established between a GNSS receiver and a number of GNSS satellites to transmit the signals.
Therefore, in each case, an interaction between at least two measurement components is the foundation of a reliable and executable position determination.
This condition forms, simultaneously, a shared disadvantage of the methods.
If the connection or contact line respectively required for the method is obstructed or interrupted in any way, a position determination cannot be made.
Such connection obstructions can be caused, for example, by buildings that are located on a linear connection line, or uneven terrain, and can therefore prevent the execution of the position determination method.
It is, therefore, an objective of the present invention to provide an improved inspection system that has associated parts and also a corresponding improved method, with the use of which among a position determination or a new determination point can be carried out exactly and with a high degree automation systems, without or with an inadequate number of known external references.
A special objective of the invention is to reference a new point position in a system, although a line of sight is provided from the new point to an inadequate reference number in that system.
These objectives are achieved by implementing the characteristics presented in the independent claims.
Features that refine the invention in an alternative or advantageous manner can be deduced from the dependent patent claims.
In inspection practice, a line of sight, ie a connection of two units by a signal or an optical connection, from a measuring device, for which the position or through which a position of a new point must be determined, to known referenced points or to an additional inspection device, whose position is known, is necessary for a position determination.
In practice, this line of sight can be interrupted or obstructed due to obstructions, for example, constructions, vegetation or terrain formations and a determination of the position of the measuring devices, or new points can therefore often be realized only with substantial additional effort or they cannot be performed.
A position determination may not be possible or may not be possible with the required accuracy with the use of measuring devices
tion of GNSS if signals from a sufficient number of satellites could not be received on a position measuring device, for example, because of a high construction.
Under unfavorable circumstances, a measurement of three or four points whose coordinates are known (satellites) 5 cannot be performed.
In the case of theodolites or total stations, targeting the referenced points or additional total stations, which is necessary to determine the position of the total station, may become impossible due to obstructions, for example, structures or trees.
For example, due to obstructions, at least three points whose coordinates are known cannot be targeted from theodolites and, accordingly, directional angles or distances cannot be measured.
Furthermore, it can be disadvantageous that a geometry is predefined by the position of the points whose coordinates are known and the GNSS or theodolite measuring device, which results in unsatisfactory intersection conditions, for example , an intersection of looking and, therefore, a greater lack of confidence in the point of determination.
In the event of such an interruption of a direct line of sight between the measuring device and the reference point, according to the invention, a bridge to generate an indirect, oblique line of sight can be produced by an aerial vehicle or by a reference component carried by an aerial vehicle.
The line of sight interruption can therefore be remedied or connected and a position determination can be carried out despite the interrupted line of sight.
The invention relates in particular to a method for determining the position of a measuring device or a new point and, optionally, the orientation of the measuring device based on moving, activated, referenced points. which are generated by an aerial vehicle and therefore form a visual bridge or a transmission bridge between the measuring device and a unit that defines a position of the referenced points.
A visual bridge, as defined in the invention, can be represented, in this case, by a point that is visible simultaneously from a measuring device, whose position must be determined, and a position determining unit, through which the position of the air vehicle can be determined in a system of absolute coordinates, or to which a connection can be produced simultaneously from both units.
According to this principle, a transmission bridge can be produced 5 by a reference component (transmission component) in the aerial vehicle, in which the reference component can be implanted as a reflector, for example.
From the measuring device, for which the position is to be determined, angle measurements can be made with respect to a moving reference point on the air vehicle and / or distance measurements can be made between the measuring device and the reference point with reference to a specific point in time and, therefore, items of relative reference information can be generated and provided in the inspection system.
An item of relative reference information, which specifies a relative position relationship of the measuring device to the air vehicle or to the reference component, can be determined, where the reference can be made taking into account the reference information item relative in the absolute coordinate system for determining an absolute position, that is, a position of the measuring device in an absolute coordinate system.
Measurements between the measuring device and the air vehicle can be carried out in several ways.
On the one hand, the measuring device can be implanted as an inspection device, for example, a total station, and a reflector in the air vehicle can be actively targeted using this inspection device.
Angles of the measuring device for the air vehicle or the reflector and, optionally, also a distance between the two devices, can be determined from it.
Alternatively or additionally, the air vehicle may have a module for emitting satellite pseudosignals, on the basis of which the distance to the inspection device can be confirmed, and therefore the respective current position of the reference point or reference component can be provided in the form of satellite pseudo signals.
On the sides of the measuring device, for example, an inspection stick, a corresponding receiving unit can be provided to receive the satellite pseudo signals, where - similarly to a GNSS system - a position of the measuring device is derivable from from a number or signals received 5 simultaneously or signals that are shifted in a defined manner with respect to time, in particular time-synchronized signals.
A distance from the measuring device to the signal source, for the aerial vehicle of this document, can be determined by receiving a pseudo-satellite signal.
Mobile referenced points can be represented by unmanned, autonomous or semi-autonomous aerial vehicles, for example, as drones, which move through the air.
These air vehicles can freely occupy positions in space, the external coordinates of which are determined, for example, by sensors on board the air vehicle (for example, GNSS receiver, acceleration sensors) or are determined externally by a additional inspection device, which targets the air vehicle, so that the coordinates or the position of the mobile reference point at a specific point in the measurement time are known.
The coordinates thus known can then be provided in the inspection system, for example, by the aerial vehicle or the inspection device.
After a measurement is taken, the air vehicle can assume an additional position autonomously, semi-autonomously or user-controlled, and therefore can represent an additional mobile reference point.
The number of referenced points required for the unambiguous determination of the new point may depend on the respective applied method.
The mobile referenced points or the aerial vehicle or the reference component in the aerial vehicle can be positioned optimally, according to the measurement task taking into account the environmental conditions, in particular, automatically, so that that, as a result of an appropriate geometry of the reference point arrangement, the determination of the position of the new point or the measuring device can be carried out with higher precision.
Alternatively or in addition to an aerial vehicle, which successively assumes the role of a plurality of referenced points, the use of a plurality of aerial vehicles can also be performed, each one statically representing a reference point in a position . Within the scope of the invention, the position of the moving referenced points or the reference component at the specific point in time can be determined in several ways.
The position of the air vehicle can be established, as a module arranged in the air vehicle, for example, a reflector, can be targeted by an inspection device, for example, by a total station.
The position of the inspection device can already be known, for example, as previously a calibration procedure was performed on the part of the inspection device and the device could therefore perform an intrinsic position determination, for example, when measure known points in a coordinate system of a higher order.
If a reflector in the air vehicle is now targeted by that inspection station, when determining the alignment of an emitted measuring beam, the direction to the air vehicle can be determined and a distance to the air vehicle can be established based on a distance measurement performed using the measurement beam.
The relative position of the air vehicle to the inspection device can be determined uniquely and precisely from these dimensions, and, with the position of the inspection device known, an absolute positioning, in particular geodetically accurate, of the air vehicle can be derived.
The control of the air vehicle can be carried out, in particular automatically, based on the position of the air vehicle thus determined, in particular continuously determined.
For this purpose, control data can be obtained from the position information items and through them, the air vehicle can automatically fly to a defined target position, for example.
Based on the absolute position of the referenced points thus determined at a shared point in time or in a shared time window and on the measurements made between the referenced points and the measuring device, the position of the measuring device or, that originate from that measuring device, a position of a new point to be measured can be calculated in an absolute coordinate system by 5 geodetic methods, for example, resection or arc resection.
This can be done, for example, "online" by a computer unit in the air vehicle or "offline" after inspection on a computer in the office.
To carry out position determination, for example, reference to the relative positions determined with the respective absolute coordinate system can be performed.
Among others, arc resection and resection methods are known in inspection to determine the position or coordinates of a point, where additional methods or a more detailed description can be found in "Vermessungskunde [Surveying]", Heribert Kah - men, Gruyter Verlag, 19th edition, 1997. In the case of resection, the inspection device is configured at a new point, for example, and the directional angle to at least three referenced points whose coordinates are known is measured from the same .
In practice, so-called distant targets (for example, church towers or crosses on mountain peaks) are often used for this purpose, whose coordinates have been determined by official inspection and are therefore known.
The coordinates of the new point can then be calculated from the coordinates of the referenced points and from the measured directional angles.
In the case of arc resection, the distances to at least three referenced points whose coordinates are known are measured, originating from a new point.
Taking into account the fact that all points that are at a specific distance from a known point rest on a sphere, the new point can be calculated as the point of intersection of the three spheres, which result from the distance measurements to the three referenced points whose coordinates are known.
Furthermore, the establishment of the position of the points
or a deviation from a predefined position can be carried out continuously by a system component that is in contact with the air vehicle.
For this purpose, a transmitting unit assigned to the system component can provide positioning signals, which can be received by a receiver in the air vehicle or in the reference component.
If that provision has, for example, a GNSS transmitter or a GNSS system is used for the purpose of accurately determining the position of the reference component, the air vehicle or reference component may therefore have a GNSS receiver, whereby position information can be received and a position can be determined from it.
A GNSS system that is conventional for this purpose can be represented, for example, by GPS or GLONASS.
Correspondingly, a GNSS antenna can be arranged on the aerial vehicle, to be able to receive the signals assigned to the respective system.
In addition, a GNSS reference station can be provided, which is also deployed to receive GNSS signals and additionally provides reference data or correction data, for example, for one of the known DGPS methods, RTK or VRS to increase the accuracy for a position determination.
An aerial vehicle adapted for such a reference system can therefore additionally be deployed to receive correction signals and carry out a geodetic position determination taking these signals into account.
In particular, the GNSS reference station can also be deployed by an additional aerial vehicle, such as a mobile reference station.
To that end, the position of that aerial vehicle can again be determined in an absolute, external coordinate system, in particular by means of an inspection device and / or by means of GNSS, and a GNSS correction signal can be issued based on a position determined by a transmitting unit arranged in the air vehicle.
These correction signals can be received by additional inspection units or additional air vehicles for position determination.
In addition, an accuracy of the current air vehicle position can be increased by sensing
aboard the air vehicle.
In order for the accuracy of the correction signals to be maintained, the air vehicle can also land at a suitable position and the emission of the correction signal can be carried out in the landed state, in particular, the air vehicle can land at a point , whose 5 coordinates sound known, and determining correction values for the emission by the correction signals while taking this position into account.
A geodetic inspection system, according to the invention, has at least one reference component that defines a reference point, in which an absolute position of the reference point is known, and at least one new point determination component which derives a relative new point position.
Furthermore, an item of mutual relative reference information is derivable between the reference component and the new point determination component, in particular for the purpose of referencing in relation to the reference point position.
The inspection system additionally has a controllable, unmanned, automotive aerial vehicle, the aerial vehicle carrying the reference component, through which at least one reference point is provided as a mobile reference point.
In addition, the air vehicle is deployed so that the reference component is freely spatially displaceable by the air vehicle in relation to the new point determination component, in particular it is substantially positionable in position.
With the use of such an inspection system, according to the invention, a position of a new point, for example, a configuration point for an inspection device or a target point that can be targeted with the use of the inspection device, can be derived as a function of the position of moving referenced points.
The referenced points are provided here by an aerial vehicle or UAV (unmanned aerial vehicle), where the position of the respective reference point is known, for example, from a position measurement.
By means of the new point determination component (for example, total station, theodolite, inspection stick), a relative relationship between the reference component available in the air vehicle and the new point determination component can be derived based on the known reference point position and therefore the relative reference information can be confirmed for the new point determination component in response to the UAV.
A position of the new point determination component can be determined from it, in particular from the determination of repeated information at additional referenced points that are provided by the UAV or are geographically known.
Depending on the application and type of the new point determination component, it may be necessary to take into account a specific number of reference information items for the single and accurate position determination.
In addition, the inspection system may have a reference point determination component to determine the position of the absolute reference point in an absolute coordinate system.
A line of sight between the reference component and, respectively, the new point determination component and the reference point determination component can be generated indirectly by a specific positioning of the reference component and a reference of the new one. point position in the absolute coordinate system can be performed.
With the use of the inspection system, according to the invention, an absolute position, that is, a position in an absolute coordinate system, can therefore be determined and provided by a reference point determination component, for example , by an inspection device or by GPS satellites.
For example, an instantaneous position of an air vehicle in a higher-order coordinate system can be determined and provided by radio or offered for receipt to system components.
In addition, an item of relative reference information can be derived using the new point determination component.
The derivation of the item of relative reference information can be made from a measurement performed actively by the new point determination component or passively by receiving and processing signals, which allow a position determination or represent a signal dependent position .
The new
point determination component can be deployed, for example, as a total station, inspection rod or similar geodetic measuring device.
In addition, a transmission of reference information can be carried out between the components of the system, in which the items of information in relation to the respective relative and absolute positions and a relative location of the positions in relation to each other can be combined .
In addition, a transmission bridge can be established by the aerial vehicle, through which an exchange of information can be carried out between the components of the system.
The bridge generated by the reference component establishes, respectively, a connection or a line of sight between the components.
A transmission of electromagnetic signals, for example, can be guaranteed by the line of sight in this case, in which the signals are not interrupted or shaded by obstructions or the signals can be reliably received despite the shading.
The aerial vehicle can, in addition, allow the free positioning of the reference component in space, for example, floating in the air and, therefore, can make it possible to carry out the targeted and defined avoidance of signal interruption obstructions.
In particular, according to the invention, a number of referenced points can be generated by the spatial displacement of the air vehicle and the air vehicle can be displaced and positioned at an altitude range of 1 m to 1,000 m, in particular a range of 2 50 m.
The reference point can be understood as a fixed reference point in the air vehicle, which is in a defined spatial relation in relation to the reference component, a reflector, a GNSS receiver and / or a module of pseudo-satellite, and therefore indirectly allows a determination of the respective position of the respective air vehicle component if the position of the reference point is known.
Conversely, if a position of one of these components is known, the position of the reference point can be completed.
This reference point can be freely positioned or moved in the air by the aerial vehicle.
The aerial vehicle can fly in a range of altitude suitable for geodetic applications, so that the respective inspection or position determination can be carried out with precision.
Depending on the measurement requirement, building heights or other earthly obstructions can be used as target flight altitude ranges relevant for that purpose to overcome a visual obstruction or connection interruption by the construction, for example.
In addition, an inspection system, according to the invention, can have an analysis unit to acquire and designate the position of the absolute reference point of the reference point, which is determined and supplied by the reference point determination component. and a respective relative reference information item between the reference component and the new point determination component, in particular, measured angles and / or a distance to the respective reference point, where the reference information item Relative reference points 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.
In addition, a match can be generated from the designation of the position of the absolute reference point and the respective item of relative reference information by the unit of analysis.
Using such a unit of analysis, pairs of associated values can therefore be determined from an item of relative reference information and an item of absolute reference information.
Therefore, a position of the reference point determined in the absolute coordinate system can be linked to an item of determined relative information, for example, a distance from a measuring device to the reference point or an angle between them. , to form a match.
A position of the measuring device or a target point by the measuring device can therefore be produced from such pairings, in particular from three or more such pairings.
In the scope of the invention, in an inspection system, the reference component can have a reflector and the reference point determination component can have a geodetic inspection device, in particular a total station or a theodolite.
The inspection device can have at least one first targeting apparatus, in particular, a telescopic view, wherein the first targeting apparatus is pivotable by a motor to change its alignment with respect to a first base of the inspection device and it has at least one first emission unit, which defines a first optical geometric axis and a first beam source to emit a first optical measuring beam for measuring distance parallel, in particular coaxially, to the first geometric axis - optical co.
In addition, a first angle measurement functionality can be provided for the high precision acquisition of the alignment of the first target geometry axis and the first analysis medium can be provided for data storage and control of the alignment of the first targeting apparatus.
The first measuring beam may therefore be able to be aligned in the reflector, in particular continuously, so that the position of the absolute reference point of the reference point can be determined and provided in a geodetic and precise manner.
Through this arrangement, the position of the air vehicle can be determined and measured through the reflector attached to the air vehicle and can be reacquired continuously by target tracking.
Therefore, the relative position of the air vehicle in relation to the inspection device can be determined uniquely and exactly and, with the position of the inspection device known, an absolute positioning, in particular geodetic precise, of the air vehicle in an absolute coordinate system can be derived.
Based on the position of the air vehicle thus determined, in particular continuously, the control of the air vehicle can be carried out.
For this purpose, the control data can be obtained from the reference information and the aerial vehicle can be flown to a defined target position using these control data, in which the inspection device may already have previously been calibrated in a coordinate system when measuring points, the coordinates are known and an exact position of the air vehicle in that coordinate system can be determined from them.
Alternatively or additionally, according to the invention, the reference point determining component can have at least one transmitting unit to emit positioning signals and the reference component can be deployed in such a way that the positioning signals are receivable, in particular, via a 5 GNSS antenna, and the position of the reference point is determinable from the positioning signals.
In particular, the transmitting unit can be deployed as a GNSS transmitter, in particular a GNSS satellite, in particular a GPS, GLONASS, or Galileo satellite, and the positioning signals can be incorporated by the GNSS signals.
In addition, the reference point determination component can have a GNSS reference station to output GNSS correction signals and the reference component can be deployed in such a way that the GNSS correction signals are receivable and the position reference point is determinable from the GNSS signals and the received GNSS correction signals.
Similarly to determining the position of the reference point using an inspection device, the absolute position can therefore be determined by GNSS signals received on the air vehicle.
If a correction signal from a reference station is used in addition to the available GNSS signals, the accuracy in determining the position of the air vehicle can be increased and, as a consequence, a position determination of a measuring device, which references itself to the position of the air vehicle, can be realized with greater precision.
In particular, the inspection system, according to the invention, can have a control unit, in which the control unit is configured in such a way that a spatial geometric arrangement of the referenced points is definable, in particular automatically. , in particular in that the geometric arrangement of the referenced points is definable as a function of an optimization to generate the pairings.
In addition, the control unit can be configured in such a way that the air vehicle is positionable as a function of the reference point position, which is determinable through the reference point determination component.
reference, in particular continuously, and / or as a function of the geometric arrangement of the referenced points, in particular automatically.
Furthermore, the control unit can be configured in such a way that a flight path is definable and the air vehicle is mobile along the flight path, in particular in which the flight path is definable as a function the spatial geometric arrangement of the referenced points.
The control unit can, therefore, determine an appropriate arrangement of the referenced points, in which the aerial vehicle can be positioned, and the determination can be carried out automatically taking into account an optimum arrangement of the points in relation to an attainable accuracy in the determination of the pairings, that is, in relation to the precision in determining the position of the absolute reference point and / or the item of relative reference information.
Alternatively, a definition of the reference point positions to be reached can be carried out manually by a user and entered into the inspection system, in particular by means of a remote control and / or by inserting a CAD terrain model through the remote control or other data interface.
Therefore, precision in determining position by means of an inspection device and / or by means of GNSS and also precision in determining distances and / or angles between a measuring device, the position of which must be determined, and the air vehicle can be taken into account.
In addition, the instantaneous position of the aerial vehicle can be incorporated taking into account the positioning.
For this purpose, the control unit can activate the rotors of the air vehicle, for example, in such a way that the air vehicle is moved to a defined target position and positioned in it.
Furthermore, a flight path for the air vehicle can be determined by the control unit and, as a consequence, the air vehicle can be controlled in such a way that it moves automatically, semiautomatically or manually along the flight path and, in particular, moves from one reference point to the next.
The determination of positions to be approached can be carried out, for example, based on a CAD terrain model and on this determination.
termination, any possible obstructions on the ground can therefore be taken into account automatically and, for example, avoided by an adequate definition of the flight path.
Such terrain models can be transmitted, for example, by radio or by wire to the system, for example, to the aerial vehicle and / or the reference point determination component and / or the new point determination component.
In addition, the system, according to the invention, can have a remote control unit, in which the remote control unit is implemented in such a way that an air vehicle control and / or a generation of pairings can be performed, in particular, where 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 by wire, or by means of radio, infrared or laser signals.
A user of the inspection system can therefore manually control the air vehicle via the remote control unit and can therefore individually approach selected points and position the air vehicle at those points.
In addition, manual control can also be performed in such a way that the air vehicle moves continuously and, in the movement, measurements for determining the position of the air vehicle and measurements for determining the relative reference information items (angles and / or distances between the air vehicle and the new point determination component) are performed.
The pairings can be generated from them continuously and the position determination for the measuring device can be carried out from them.
To that end, (recently) generated pairings can be taken into account continuously and the set of pairings used for position determination can be increased and, therefore, the accuracy in determination can be increased.
Such a continuous increase in precision can also be achieved through the automatic selection of referenced points and pairings generated from it, in particular in that the number of pairings taken into account for this purpose can also be continuously expanded.
In addition, through the remote control unit, control commands and / or terrain information (CAD model) can be transmitted to an additional component of the inspection system and used to control the aerial vehicle and information items, for example. For example, specific positions can be transmitted to the remote control unit and provided therein to a user, in particular, where the information is displayed on a display screen.
For example, a measuring environment that has measuring devices positioned on it and a moving or positioned aerial vehicle can therefore be displayed graphically.
In particular, the air vehicle in an inspection system, according to the invention, may have a sensor unit to determine the alignment of the air vehicle, in particular a tilt sensor, a magnetometer, an acceleration sensor, an yaw deviation, and / or a speed sensor.
Through measurements with the use of this sensor unit, a determination of the position of the air vehicle can be aided and its accuracy can therefore be improved.
Furthermore, a position determination can therefore be carried out independently of external measuring systems for position determination, as, for example, an air vehicle start position is known and, based on it , the movement - in particular speed and direction - and changes in the movement of the device are detected by the sensors.
In addition, with the use of the sensor unit, an alignment determination can be made for the control of the air vehicle.
In addition, the sensor unit, for example, in the event of a failure of the reference point determination component for determining the position of the air vehicle or an interruption of a measuring connection, for example, an optical measuring beam or a GPS signal, the air vehicle may make it possible to perform a temporary position determination, for example, to align a measurement beam on the air vehicle again or to control the air vehicle in such a way that a GPS signal becomes receivable again.
According to the invention, in particular, the reference component can be implanted in such a way that the position of reference point and / or the relative reference information item can be provided indirectly by the reference component, in particular where the reference component has a transmitter to send and / or a receiving unit to receive the reference point position and / or the relative reference information item, in particular where the reference point position reference and / or the relative reference information item are transmissible by wire, or via radio, infrared or laser signals, in particular where the reference point position can be modulated in the positioning signals.
The reference component can therefore be used as a transmission bridge for reference information or for signals representing angles, distances, positions, and / or coordinates.
Such information can therefore be transmitted from the reference point determination component (inspection device or GPS satellite) to the new point determination component (inspection stick or inspection device), even if a direct connection between the two components cannot be established.
For such transmission, the information can additionally be modulated in the signals, whereby, on the one hand, the position determination of the air vehicle is carried out and / or, on the other hand, the items of the reference information are determined.
In the scope of the invention, the reference component of the inspection system, according to the invention, may have the reflector and the new component for determining the point, may have a second targeting device, in which the second device targeting is pivotable by a motor to change its alignment with respect to a second base of the new point determination component and has at least a second emission unit, which defines a second optical target axis and a second source beam to emit a second optical measuring beam for distance measurement in parallel, in particular coaxially, to the second optical target axis.
In addition, a second angle measurement functionality for the acquisition of high precision of the alignment of the second target geometry axis and second means of analysis for data storage and control of the alignment of the second targeting device can be arranged.
The second measuring beam can therefore be aligned on the reflector, in particular continuously, so that the item of relative reference information, in particular for obtaining the position reference of the new point determination component can be determined and provided as a function of the reference point position, so that the pairings and / or the new point position can be determined in the absolute coordinate system, in particular a position of a measurable target point.
By means of this second targeting apparatus, which is integrated into a total station, for example, an angle and / or a distance from the reflector in the reference component can be determined and, therefore, a relative position relationship can be determined. determined indirectly between the air vehicle or the reference point and the total station.
With the use of this position and relative reference, as a consequence, a determination of the absolute position of the total station can be performed, by producing a relationship between the absolute coordinate system, in which the position of the air vehicle is determined, and the relative reference information item.
A requirement for this purpose is to know the respective position of the reference point in the absolute coordinate system.
Alternatively or in addition, an absolute position - in the coordinate system in which the position of the air vehicle is determined - of a target point measurable by the total station can be produced, in particular where the position of the total station is not determined.
To that end, a relative position of the target point can be determined and that position can, in turn, be referenced by a transfer of the reference information in the absolute system.
Position determination can be based, again, on the generation of pairings from items of relative reference information, for example, angles and / or distances between the reference point and the total station, optionally with angle and additional distance to the point-
target, and the position of the absolute reference point.
Within the scope of the invention, the reference component of the inspection system according to the invention may, in addition, have a pseudo-satellite module to emit the positioning signals, in particular in that the positioning signals represent the position of the reference point. - absolute reference, and the new point determination component can have a satellite pseudoreceptor, in which the satellite pseudoreceptor is implanted in such a way that the positioning signals emitted by the pseudo-satellite module are receivable and the information item of Relative reference points can be determined and supplied so that the new point position can be determined in the absolute coordinate system.
Through this arrangement, a distance, for example, between an inspection stick and the aerial vehicle or the reference point, can be determined.
The inspection stick can represent a passive unit, in which the satellite pseudosignals, which represent and provide a position of the reference component and, therefore, the position of the air vehicle, can be received.
From a number, in particular from four such received signals, in the case of the given time synchronization of the signals or, in the case of a known deviation from the time of the signals, from three such received signals, a determination relative position of the inspection stick can be performed - similar to a GNSS method.
In addition, the determination of the position of the inspection stick or an inspection device that is implanted to receive corresponding signals can be performed from the GNSS signals and satellite pseudo signals that are used simultaneously for the determination.
In addition, the invention relates to a method of geodetic referencing with the use of at least one reference point, whose absolute position is known, and at least one new point determination component from which a new relative point position is derived.
An item of mutual relative reference information, in particular for the purpose of referencing, in relation to the position of reference point, is derived.
In addition, the derivation of reference information is carried out by means of a reference component (transmission component), through which at least one reference point is provided as a mobile reference point, in which the reference component is performed 5 by a controllable, unmanned, automotive aerial vehicle and the aerial vehicle is deployed in such a way that the reference component is freely displaced spatially, in particular positioned substantially fixed in position, by the air vehicle, in relation to the new determination component. dot nation.
In addition, the position of the absolute reference point can be determined in an absolute coordinate system using a reference point determination component, and / or a line of sight can be indirectly generated between the reference component and , respectively, the new point determination component and the reference point determination component by a specific positioning of the reference component, and the referencing of the new point position can be carried out in the absolute coordinate system. .
With the use of the aerial vehicle, a bridge for the transmission of information items can be produced for the referencing method, in which the reference information items can be exchanged between the reference point determination component and the new reference component. point determination by this transmission, and position referencing can be performed.
Therefore, a relative position relationship between the new point determination component and the reference component can be transferred in an absolute coordinate system and, therefore, an absolute position, that is, a position specification in the absolute coordinate system, of the new point determination component, can then be determined.
To provide such a transmission bridge, the air vehicle and the reference component made by the air vehicle can be positioned freely in space.
This allows the establishment of a direct view aligned between, respectively, the aerial vehicle or the reference component and the reference point determination component and the new point determination component and, therefore, the derivation of mutual information.
In particular, within the scope of the geodetic referencing method, according to the invention, the mobile reference point can be spatially displaced by the aerial vehicle, so that a number of referenced points is generated and the aerial vehicle can be generated. be moved and positioned in an altitude range of 1 m to 1,000 m, in particular in a range of 2 m to 50 m.
In addition, according to the invention, detection and designation can be carried out, from the position of the absolute reference point of the reference point, which is determined and supplied by the reference point determination component, and a respective relative reference information item, in particular of measured angles and / or a distance to the respective reference point, where the relative reference information is determined and provided by the new point determination component as a function of the position of reference point and a position of the new point determination component.
In addition, the generation can be carried out by pairing from the designation of the position of the absolute reference point and the respective item of relative reference information.
By specifying a reference point on the air vehicle, an absolute position of that point can be determined and provided by the reference point determination component, for example, a total station, a tachymeter or a theodolite.
This absolute position can therefore be determined in an absolute coordinate system.
Furthermore, through the new point determination component, for example, incorporated as a total station or inspection rod, angles and / or distances (relative reference information item) to the air vehicle or to the point benchmarks can also be determined and provided.
These determined dimensions can, respectively, be assigned to each other in a pairing.
For this designation, the line of sight between the aerial vehicle and the additional components has again
to be established.
To that end, the aerial vehicle can be moved in such a way that it is moved or positioned at a specific altitude, so that an obstruction that obstructs a connection between the components can be deflected or avoided.
After that, a position determination 5 for the new point determination component can be carried out from several pairings.
This can be done using methods known in the inspection, for example, resection or arc resection.
In addition, according to the invention, a spatial geometric arrangement of the referenced points can be defined, in particular automatically, in particular in which the geometric arrangement of the referenced points is optimized as a function of the generation of the pairings.
Furthermore, the air vehicle can be positioned as a function of the position of the absolute reference point, which can be determined, in particular continuously, and / or as a function of the geometric arrangement of the referenced points, in particular automatically. , and / or a flight path can be defined and the air vehicle can be moved along the flight path, in particular where the flight path is defined as a function of the spatial geometric arrangement of the referenced points.
To generate the pairings, the referenced points, which can be positioned freely and freely by the aerial vehicle, or their arrangement and positioning, can be determined in such a way that the highest possible accuracy is achieved in determining the absolute position of the new point determination component and / or generating the pairings.
To that end, the aerial vehicle can, accordingly, be flown to the respective position and its position can be determined geodetically in a precise manner, in particular continuously.
An increase in accuracy can additionally be achieved as the number of pairings used to determine the absolute position of the new point determination component is continually increased with the generation of new referenced points and an uncertainty of determination is therefore reduced.
An appropriate arrangement of the reference point position can be performed automatically, by e-
example, in which points can be established based on a digital terrain model and, optionally, taking into account a position of an inspection device, which establishes the position of the air vehicle.
In addition, the definition of reference point positions can be performed manually and a user can freely define these points within the scope of the referencing method and can control or move the air vehicle manually to these positions, for example, using of a remote control, and position it there.
For example, a suitable geometric point arrangement can be established in such a way that an intersection of view does not result from an arc resection or resection, but instead, in particular, an angle between a new position a determined and the respective successive referenced points is respectively greater than 90 °. In addition, the flight path, along which the air vehicle must fly, can be determined manually or automatically.
The route can be planned automatically based on the terrain model, for example, a CAD model, and as a function of any possible obstructions or already established target referenced points.
The air vehicle can fly completely automatically along this route or can be controlled semi-automatically, that is, the air vehicle can approach a reference point and position itself there and automatically fly to the next point by inserting a user.
In particular, within the scope of the method, according to the invention, positioning signals provided by the reference point determination component can be received by the reference component, in particular GNSS signals provided by GNSS satellites, in particular where the GNSS signals are represented by GPS, GLO-NASS or Galileo signals, and the position of the absolute reference point is determined and provided from the received positioning signals.
Furthermore, the determination and provision of the reference point position can be carried out by means of a first measuring beam, which is emitted by the reference point determination component and is reflected in the reference component and / or a determination of an alignment of the air vehicle in the pitch, yaw and roll directions can be carried out, in particular where the determination of the alignment is carried out by means of an internal sensor unit assigned to the air vehicle, in particular by means of a tilt sensor, magnetometer, acceleration sensor, 5 yaw deviation sensor and / or speed sensor.
Using the aforementioned method, respectively, the position and / or the alignment of the air vehicle in the respective flight position can be determined and provided, and this information can be further processed for the control of the air vehicle, on the one hand, and / or they can be used for the absolute position determination of the new point determination component, on the other hand.
In particular, according to the invention, within the scope of the method, positioning signals, in particular satellite pseudo-signals that represent the reference point position, can be output from the reference component and the positioning signals can be received by the point determination component and the relative reference information item can be determined as a function of the reference point position, so that the new point position is determined in the absolute coordinate system.
In particular, according to the invention, in the scope of the method, the determination of the item of relative reference information can be carried out by means of a second measuring beam, which is emitted by the new point determination component and reflected in the reference component, so that the pairings and / or the new point position are determined in the absolute coordinate system, in particular a position of a measured target point.
The determination of the relative reference information can therefore be carried out in two ways.
On the one hand, the targeting of the air vehicle can be carried out actively from the new point determination component and an angle and / or a distance in relation to the air vehicle can be confirmed from it.
On the other hand, a signal representing the respective position of the air vehicle can be sent
taken from the air vehicle and can be passively received by the new point determination component (similar to a position determination using GPS). A distance from the aerial vehicle can again be derived from it, in particular if a plurality of signals is received, in particular in a synchronized, simultaneous or time-shifted manner.
In addition, the invention relates to a controllable, unmanned, automotive aerial vehicle, in particular a drone, for an inspection system according to the invention, in which the aerial vehicle is freely displaceable spatially in relation to the new Point determination component, in particular, is positionable substantially fixed in position.
The aerial vehicle carries a reference component to provide a mobile reference point.
In particular, the air vehicle, according to the invention, can receive control data to control the air vehicle and / or can derive control data to control the air vehicle through a processing unit from information receivable reference points to determine an absolute reference point position, in particular where an air vehicle alignment is determinable by a sensor unit assigned to the air vehicle.
In addition, the position of the absolute reference point and an item of relative reference information can be linked by the processing unit, so that a match can be generated.
According to the invention, in particular, the air vehicle can be deployed in such a way that the mobile reference point is spatially displaceable by the air vehicle, in particular it is positionable substantially fixed in position, so that a number of referenced points and pairings can be generated and the aerial vehicle can be moved and positioned in an altitude range of 1 m to 1,000 m, in particular, in a range of 2 m to 50 m.
In particular, the reference component of the aerial vehicle can also have a pseudo-satellite module to emit positioning signals.
to determine the item of relative reference information, in particular to determine a new absolute point position in an absolute coordinate system, and / or may have a reflector to determine the item of relative reference information, in particular to the target the reflector with the use of a laser beam, so that the pairings and / or the new point position are determinable in the absolute coordinate system, in particular a position of a measurable target point.
According to the invention, an unmanned, controllable automotive aerial vehicle can be used to carry a reference component to a geodetic inspection system to generate a transmission bridge for the derivation of reference information, in particular where a line of sight is producible between individual system components by the reference component.
An additional object of the invention is a computer program product, which is stored in a computer-readable carrier, or computer data signal, incorporated by an electromagnetic wave, which has program code to carry out a method, according to with the invention, in particular when the program is executed in an electronic data processing unit.
The computer program product or computer data signal can be designed in such a way that the control instructions are provided therein, in particular in the form of algorithms, using a method, according to the invention, to generate a transmission bridge with the use of a controllable, unmanned, automotive aerial vehicle can be performed.
The method according to the invention, the system according to the invention and the air vehicle according to the invention are described in more detail hereinafter only as examples based on the specific exemplary modalities, which are schematically illustrated in the drawings, where additional advantages of the invention are discussed.
In the figures: Figure 1 shows a schematic view of an inspection system according to the invention;
Figure 2 shows a first modality of an inspection system, according to the invention, which has a GNSS system, an aerial vehicle and a measuring device; Figure 3 shows an additional embodiment of an inspection system according to the invention that has a GNSS system, an aerial vehicle and a measuring device; Figure 4 shows an additional modality of an inspection system according to the invention that has a GNSS system, unmanned aerial vehicles and an inspection stick; Figure 5 shows an additional modality of an inspection system, according to the invention, which has a GNSS system, an unmanned aerial vehicle and an inspection device; Figure 6 shows an additional embodiment of an inspection system according to the invention that has an unmanned aerial vehicle and two inspection devices; Figures 7a-b show suitable arrangements of referenced points to determine a new point position; Figure 8 shows a determination, according to the invention, of a new point position by means of mobile referenced points.
Figure 1 shows a schematic view of an inspection system 1, according to the invention, which has a reference point determination component 10 and a new point determination component 30, in which a position of the new point determination component 30 must be determined.
The position of the reference point determination component 10 is known, for example, from previous measurements and can be used as a reference position to determine the position of the new point determination component 30. Furthermore, an obstruction 95 is located in the direct line of sight 90 between the two components of the system 10, 30 and therefore avoids the possibility of determining the position by directly connecting the two components 10, 30 to each other.
Such a determination of position could be the line of sight
90 was established - be performed by distance measurements between components 10, 30 along line of sight 90, for example.
In addition, a reference component 100, which is performed by an aerial vehicle (not shown), is provided for the 5 position determination of the new point determination component 30. Respectively, a line of sight 91 between the reference point determination 10 and reference component 100 and a line of sight 92 between the new point determination component 30 and reference component 100 are established by reference component 100. By means of this arrangement, a position determination of the new point determination component 30 can therefore be carried out indirectly.
For this purpose, an absolute position, that is, a position in an external absolute coordinate system, of the reference component 100 can be determined using the reference point determination component 10 and, simultaneously or in a reference window. specific time, an item of reference information relative to the new point determination component 30 relative to reference component 100 can be determined.
An absolute position of the new point determination component 30 in the absolute coordinate system can be derived by means of an analysis unit 60 from the absolute determined position of the reference component 100 and the relative reference information item.
For this purpose, for example, measured angles and / or distances between the components, which, respectively, can incorporate specific positions, can be provided for the analysis unit 60 and the position to be determined can be calculated from the dimensions provided .
Figure 2 shows a first modality of an inspection system 1, according to the invention, which has a GNSS system incorporated by GNSS satellites 11, an air vehicle 50 and an inspection instrument 31. Air vehicle 50 is equipped with a pseudo-satellite module 53 to image a signal 55 - comparable to a GNSS signal - that can be received by a satellite pseudoreceptor 32 provided in the instrument
inspection instrument 31. Based on this satellite pseudo signal 55, a distance measurement from the air vehicle 50 to the inspection instrument 31 can be performed and, therefore, items of relative reference information can be determined. In addition, at the distance measurement time point, the position of the aerial vehicle 50 can be determined by sensors in it and the coordinates or position of the mobile reference point, which are assigned to the aerial vehicle 50 and are in a fixed spatial relation to it, can be transmitted to the inspection instrument
31. Reference information can be modulated in a coded form on signal 55 and can be received there by the inspection instrument 31 or can, alternatively or additionally, be transmitted via radio to it and can be received using an additional receiving unit. For determining the absolute position (in an external, absolute coordinate system) of the inspection instrument 31 or for determining the absolute position of a new point 2, in which the inspection instrument 31 is configured, the aerial vehicle 50 it can move up to at least three significantly different positions and, therefore, represents a plurality of referenced points. In each of these positions, a distance measurement can be performed between the respective reference point and the inspection instrument 31 based on the satellite pseudo signals 55 and also the coordinates of the reference point can be determined and transmitted to the instrument. of inspection 31. Based on the coordinates of the referenced points and the measured distances, the position or coordinates of the new point 2 or of the inspection instrument 31 can be calculated in a computing unit, for example, on the inspection instrument 31, by through arch resection. For determining the position of the mobile referenced points in the absolute coordinate system, the unmanned aerial vehicle 50 is additionally equipped with a GNSS 52 receiver unit. Using this receiving unit, GNSS signals are received from GNSS 11 satellites and, based on them, the absolute position or coordinates of the air vehicle 50 or the mobile referenced points are calculated.
In addition, the aerial vehicle 50 can be equipped with a sensor unit 54, which consists, for example, of a magnetometer, a tilt sensor, an acceleration sensor, and / or a yaw deviation sensor 5.
The improved accuracy of determining the reference point position can be achieved or an alignment and / or movement of the air vehicle 50 can be determined by matching the measurements of that sensor unit 54. For position determination, the air vehicle 50 can , respectively, assume appropriate positions, in which a connection between the air vehicle 50 and the GNSS satellites 11 and between the air vehicle 50 and the inspection instrument 31 exists, respectively, in the respective positions.
The inspection instrument 31 remains positioned in place in position during position determination.
By arranging at least two, in particular, four or more rotors 51 in the air vehicle 50, such positioning can be performed and maintained.
Under this condition, a determination of the absolute position of the air vehicle 50 by satellites 11 and the item of relative reference information by means of satellite pseudo signals 55 can be carried out simultaneously or within a defined time window.
Pairing can therefore be derived, respectively, from these determinations, from which a position determination of the new point 2 or the position of the inspection instrument 31 can be performed when the pairing is considered together.
For a reliable and accurate position determination, the air vehicle 50 can assume respective suitable positions to generate a number of referenced points, in particular, three significantly different points.
The positions can be selected, in particular, automatically, so that shading or interruption of the respective connection between individual components by obstructions, for example, construction 80, can be avoided.
Furthermore, the positions can represent an advantageous geometric arrangement and, therefore, can result in high precision in the determination during the execution of the arc resection for the position determination.
The satellite pseudosignal 55, which is emitted by the transmitting units 53 of the aerial vehicle 50, can additionally be designed in such a way, for example, that it corresponds to a GNSS signal and, therefore, can be received by inspection devices of Conventional GNSS and 5 position can therefore be analyzed.
Figure 3 shows an additional modality of an inspection system 1, according to the invention, which has GNSS satellites 11a, 11b, an air vehicle 50 and an inspection instrument 31. The air vehicle 50, which can represent a group of air vehicles here, is equipped with a pseudo-satellite module 53 to emit a signal 55, which corresponds to a GNSS signal or represents a satellite pseudo signal, which can be received by a satellite pseudoreceptor 32 arranged in the inspection instrument 31. The receiver 32 can be deployed in such a way that the GNSS or satellite pseudo-signals or both types of signal can be received together.
A distance measurement from the air vehicle 50 to the inspection instrument 31 can be performed based on signal 55 and, therefore, relative reference information items can be determined.
In addition, at the time point of the distance measurement, the position of the air vehicle 50 can be determined by the sensors in it and the coordinates or position of the mobile reference point, which is assigned to the air vehicle 50 and is in a spatial relationship. fixed in relation to it, can be transmitted to the inspection instrument 31. The reference information item can be modulated in coded form in signal 55 and can be received there by the inspection instrument 31, or can, alternatively or additionally- be transmitted over the radio to it and be received using an additional receiving unit.
For determining the position of the inspection instrument 31 or a new point 2, in which the inspection instrument 31 is configured, the GNSS signals from satellites 11a can be received and used, where the satellites 11a shown can represent a group of GNSS satellites.
Since, due to obstructions 80, receiving a sufficient number of signals from satellites 11a for proper position determination is avoided,
a reliably accurate position determination cannot be performed solely on the basis of receivable GNSS signals.
Additional movable referenced points for position determination can now be provided by one or more air vehicles 50. The air vehicle 50 can move 5 for that purpose to the respective defined positions.
In these positions, a distance measurement can be carried out, respectively, between the reference point and the inspection instrument 31 based on satellite pseudo signals 55 and also, the respective position of the reference point can be determined and transmitted to the instrument. inspection point 31. The position of the reference point can be produced, for example, by means of GNSS signals provided by satellite group 11a and by using additional GNSS signals from satellites 11b, which are again shown as representative of a group of satellites.
The aerial vehicle 50 can be positioned in such a way that the signals from both satellite groups 11a, 11b can be received in the aerial vehicle 50 and the signals 55 emitted from the aerial vehicle 50 can be received by the receiving unit 32 in the inspection instrument 31. Using the GNSS signals receivable from satellites 11a and the additional satellite pseudo-signals 55 from the air vehicle 50, in particular where a plurality of referenced points are provided by the air vehicle 50, the position of the inspection instrument 31 or the new point 2 can therefore be determined.
Figure 4 shows an additional modality of inspection system 1, according to the invention, which has GNSS satellites 11, unmanned aerial vehicles 50 and an inspection stick 35 carried by a user 37. A plurality of unmanned aerial vehicles 50 is used in this modality.
Each of these aerial vehicles 50 is equipped with a pseudo-satellite module 53 to emit, respectively, a signal 55 - comparable to a GNSS signal - which can be received by a satellite pseudoreceptor 36 disposed on the inspection stick 35 Based on these pseudo-satellite signals 55, distance measurements can again be performed from air vehicles 50 to inspection stick 35 and therefore relative reference information items can be determined.
From.
Based on the distances thus confirmed and the positions or coordinates of the air vehicles 50 or positions of the mobile referenced points, which are assigned to the air vehicles 50 and are in a fixed spatial reaction in relation to them, the position or coordinates of the stick 5 inspection 35 or the new point 2 can be calculated by means of arc resection, where the positions of the air vehicles 50 can be transmitted to the inspection rod 35, for example, coded for the satellite pseudo signals 55 or via radio.
In this embodiment, air vehicles 50 can remain substantially statically in one position.
In addition, at least three or four air vehicles 50 can be used and, therefore, a sufficient number of distance measurements can be performed for a single coordinated determination of the new point 2. As a result of the substantially synchronized distance measurement as well possible from a plurality of aerial vehicles 50 to the inspection staff 35, a progressive or continuous determination of positions and / or coordinates is possible here.
Therefore, a position determination of the inspection route 35 - in contrast to the first modality (Figure 2) - can also be performed during a movement of the stick.
To determine the positions of the referenced points, unmanned aerial vehicles 50 are each additionally equipped with a GNSS receiver unit 52. Using this receiving unit, GNSS signals are received from GNSS satellites 11 and, based on them, the positions or coordinates of the referenced points are calculated, which can be provided for the inspection rod 35. In addition, air vehicles 50 may have receivers 56 to receive the satellite pseudo signals 55, so that distances between air vehicles 50 can also be determined and, therefore, a higher accuracy can be achieved in determining the reference point positions.
In addition, each air vehicle 50 can also be equipped with a sensor unit 54 here, where measurements from sensor unit 54 can result in improved accuracy of measurement positions or can be used for determining vehicle alignments and movements airplanes 50. The latter can be important, in particular, for the control of whether air vehicles 50 must remain afloat in a specific position and are subject to external influences, for example, wind.
A correction or balancing of the position of the air vehicles 50 or of the signals emitted 55 can then be carried out based on the measurements of the sensor unit 54. During the positioning of the air vehicles 50, an optimum measurement configuration, ie , a suitable geometric arrangement of the reference point positions, can be sought while taking into account obstructions 80. Air vehicles 50 can therefore obtain suitable referenced points that generate an indirect line of sight between the components (satellites GNSS 11 and inspection stick 35) and can remain substantially statically floating on them or can move through controlled air in a controlled manner.
Figure 5 shows an additional modality of an inspection system 1, according to the invention, which has GNSS satellites 11, an unmanned aerial vehicle 50 and an inspection device 40, for example, a total station or a theodolite.
The air vehicle is provided with a GNSS 52 receiver for determining an air vehicle 50 position or a designated reference point for the air vehicle 50. Using this receiver, GNSS signals, for example, GPS signals, which are emitted by a GNSS satellite, for example, from a GPS satellite, can be received and, therefore, the position or coordinates of the reference point in the air vehicle 50 can be determined and subsequently - provided with the inspection device 40. A plurality of referenced points, respectively represented by the aerial vehicle 50 in a respective position, can again be generated by a movement 59 of the aerial vehicle 50, in particular along a flight path previously defined and their positions can be determined by the GNSS system.
In addition, additional already known reference targets, represented here by reference target 6, can also be located in the visual range.
In addition, a target mark or reflector 57 is attached to the unmanned aerial vehicle 50, in which the target mark or measurement beam reflector 42 of a targeting unit 41 of the inspection device 40 5 can be aligned .
The blanking unit 41 is pivotable in a controllable manner manually or by motor about two geometric axes for this purpose.
The inspection device 40 can additionally be automatically aligned, in particular, to the reflector 57 of the aerial vehicle 50 and "coupled" to it, so that the automatic target tracking of the reflector 57 or the aerial vehicle 50 can be carried out.
Such target tracking can be implemented by means of an automatic target recognition device (automated target recognition, ATR) that is integrated with the inspection device 40. For this purpose, the displacement of a reflected laser beam by the reflector 57 from a neutral position on a photoid can be acquired in such a way that a direction of movement of the reflector 57 in relation to the inspection device 40 can be derived from the deviation and the inspection device 40 can be traced back to According to this movement or the alignment of the inspection device 40 or the targeting unit 41 in the reflector 57 can be readjusted, so that the deviation in the photodiode is minimized.
Based on a measurement using an angle measuring device provided in the inspection device 40, the horizontal and / or vertical directional angle in relation to the reflector 57 in the air vehicle 50 can be determined in relation to the setting location of the inspection device 40. In particular, the distance from the aerial vehicle 50 can additionally be measured using a distance meter on the inspection device 40. For determining the position of the new point 2 or the position of the inspection device 40, the aerial vehicle 50 can position itself differently and therefore generates referenced points, in which the minimum number required for a reliable position determination may depend on the respective type of measurements.
For example, in the case of an additional use of the known reference target 6 for position determination,
the required number of moving referenced points to be targeted can be reduced and the determination can be made from a combination of moving reference point and known reference targets.
The aerial vehicle 50 can be positioned, in particular automatically, in such a way that a direct line of sight, which is interrupted by a construction 80, for example, between the GNSS satellites 11 and the inspection device 40, can be connected indirectly by the air vehicle 50, so that, respectively, a connection exists between the air vehicle 50 and the GNSS satellites 11 or the inspection device 40. In each of these positions, an angle measurement and / or distance measurements in relation to the air vehicle 50 are performed using the inspection device 40 and a relative position, that is, a position in a relative coordinate system, from the air vehicle 50 to the inspection system 1, or items relative reference information is provided.
This can be done, for example, via radio or modulated in the measuring beam 42. Simultaneously or in a specific time window, the respective absolute position, that is, the position of the air vehicle 50 in an absolute coordinate system outside suit, in particular, can be determined by GNSS.
Based on the measured directional angles and / or distances and the absolute coordinates of the referenced points, the position or coordinates of the new point 2 or the position and, optionally, the orientation of the inspection device 40 can be calculated using geodetic methods (for example, example, resection or arc resection). In addition, in particular, an additional target point 3 can be targeted using the inspection device 40 and its position or coordinates can be determined.
Using a coordinate transformation, the position of target point 3 can now also be determined in the same way in the absolute coordinate system.
For position determination, in addition to the respective determined items of relative information and absolute positions or the measured angles and / or distances and the absolute determined position of the air vehicle 50 are related to each other by calculating a relative relationship and, from a number of pairings derived from it, the position of the device
inspection volume 40 or the new point 2 and / or target point 3 in the absolute coordinate system is determined.
Figure 6 shows an additional embodiment of an inspection system 1, according to the invention, which has an unmanned aerial vehicle 50 and two inspection devices 40a, 40b.
In this modality, the determination of the position of the reference point or the position of the air vehicle 50 in the absolute coordinate system can be carried out with the use of an inspection device 40b, the measuring beam 42b which is aligned in a reflector 57 attached to the aerial vehicle 50, in particular is coupled to the aerial vehicle 50 through the target tracking, by means of angle measurements and distance measurements.
The position or coordinates of the reference point are then supplied to the inspection system 1, for example via radio, in particular transmitted to the inspection device 40a.
At the same time, with the use of the inspection device 40a, angle measurements and / or distance measurements can also be made for the reflector 57 attached to the air vehicle 50 by means of the measuring beam 42a.
Based on the measured directional angles and / or distances from inspection device 40a and the coordinates of the referenced points determined by the inspection device 40b, the coordinates of the new point 2 and also the position and, optionally, the orientation inspection device 40a can be calculated using known geodetic methods (for example, resection or arc resection). The mobile reference point provided by the air vehicle 50 can therefore be used as an activation point.
Similar to the aforementioned modalities, the aerial vehicle 50 can occupy suitable positions to overcome a visual obstruction caused by obstructions 80 and to provide a number of the referenced points.
The (absolute) coordinates of the referenced moving points and also, in additional succession, of the new point 2 or the inspection device 40a can, defined in a local coordinate system, refer to the set point 4 and the alignment measuring device 40b.
In addition, before the inspection procedure, the coordinates of configuration point 4 can be determined by additional angle and / or distance measurements using the measuring device 40b and also their orientation in relation to the known reference targets 6 in a higher order coordinate system.
Methods known in the inspection can also be used in this case. 5 The coordinates of the mobile referenced points that are determined using the inspection device 40b can be transmitted via radio directly to the inspection device 40a.
Alternatively or in addition to this, for example, if direct communication is not possible as a result of obstructions 80, reference information items can also first be transmitted from inspection device 40b to air vehicle 50 and then , transmitted to the inspection device 40a.
Communication or transmission of measured values can additionally be carried out in the reverse direction that originates from the inspection device 40a to the device 40b.
In addition, the aerial vehicle 50 can be equipped with a sensor unit 54, for example, which consisted of a magnetometer, a tilt sensor, an acceleration sensor, and / or a yaw shift sensor, in that measurements from sensor units 54 can result in improved accuracy in determining the position of moving referenced points or can be used for determining the alignments and movements of the air vehicle 50. In addition, this sensor unit 54 can also be used for determining the position of the referenced points or at least for their approximate determination, in particular if the determination of the positions by the inspection device 40b fails.
This case can occur, for example, if the automatic target tracking loses its connection with the target (reflector 57), for example.
In this case, the approximate position, based on measurements from sensor unit 54, can be transmitted to the inspection device 40a or the inspection device 40b via radio.
Based on this information, the inspection device 40b can find the target again, the connection can be reestablished and automatic target tracking can be performed again.
In addition, after a first determination of the approximate position of the new point 2 or the position of the inspection device 40a, the coordinates of the same can be transmitted by radio to the aerial vehicle 50. Based on this information, a flight path for the air vehicle 5 can be automatically adapted to provide optimum geometry for the referenced points for position determination and, therefore, to achieve higher accuracy.
The transmission information from the inspection devices 40a, 40b to the aerial vehicle 50 can also be carried out via a laser beam, in particular through the measuring beam 42a, 42b, which is used for distance measurement.
For that purpose, the aerial vehicle 50 may have a corresponding receiver apparatus.
Figures 7a and 7b each show a geometrical arrangement of referenced points 23, 23a, 23b for determining, according to the invention, a position of a new point 2. In Figure 7a, the points referenced 23 are selected and arranged in such a way that a determination of a new point 2 position can be carried out uniquely and reliably, for example, by a resection or an arc resection, since a respective resection and an arc resection they generate a substantially unique point of intersection, which is, in particular, subject to only a small uncertainty.
In contrast, Figure 7b shows a selection of referenced points 23a, 23b in such a way that they result in an optimal geometrical configuration for determining the new point 2 only after points 23b are added as additional reference points 23b.
For this purpose, after an approximate position determination of the new point 2 based on the referenced points 23a, the additional referenced points 23b for the air vehicle 50 can be calculated and approximated, which results in an optimal geometric arrangement of the points 23a, 23b and, therefore, at a higher precision when determining the coordinates of the new point 2. Furthermore, the flight path 25 of the air vehicle 50 can be continuously adapted as a function of the precision to be optimized.
In addition, through proper selection of the points referred to 23a, 23b, possible obstructions that would interfere with, attenuate or corrupt a transmission of measurement signals to the inspection device or away from the inspection devices, can be avoided.
This 5 can be done substantially automatically, as the inspection device analyzes and evaluates the signal quality of the measurement upon receipt.
In the case of a weak signal, the air vehicle 50 can change its position in such a way that the signal quality is increased.
This information can be transmitted from the inspection instrument to the air vehicle, for example, via radio, where the air vehicle can be equipped with a corresponding transmitter and receiver devices.
To avoid or connect obstructions, items of information from a geoinformation system can also be used, which may contain, for example, the positions and dimensions of structures.
In the case of the selection of the referenced points 23a, 23b, the ability to receive the GNSS signal can also be taken into account, which is used to determine the position of the air vehicle itself.
In principle, this position can be determined with higher accuracy if the signal is received by the maximum number of possible GNSS satellites.
An optimization can therefore be carried out in such a way that the aerial vehicle searches for a measurement position that allows the reception of the largest number of GNSS satellite signals possible, by avoiding signal shadows due to obstructions, for example, constructions.
In addition, interference effects, for example, multiple paths, can be taken into account when selecting the referenced points.
Figure 8 shows a sequence of a determination, according to the invention, of a new position of point 2. This sequence can be carried out, in particular, with the use of an inspection system 1, according to the invention. , according to the modality in Figure 6. In a first step, an absolute configuration position 4 of an inspection device 40b can be determined based on points 6, whose coordinates are known and which can be targeted by the detection device. inspection 40b.
In addition, proceeding from the configured position 4 of the inspection device 40b, a respective position of the absolute reference point 23 can be produced, in which this position can be movable by an aerial vehicle 50, when measuring the reference point 23 5 through the inspection device 40b.
In addition, the respective reference point 23 can be targeted by an additional inspection device 40a at the new point 2 and an item of relative position information, for example, directional angle and / or distance, for point 23 can be determined .
Various references can be generated by a movement of the aerial vehicle 50 or of the referenced points 23 along a route 25 and a respective value pair that has an absolute position specification of the reference point 23 and an information item Relative reference points, for example, directional angle and / or distance, can be generated from them.
The position of the new point 2 can then be completed from at least three such value pairs by means of the known geodetic methods of arc resection or resection.
It is obvious that these illustrated figures represent only schematically possible exemplifying modalities.
The various approaches can also be combined, according to the invention, with each other and with systems and methods for determining the position or positioning of objects or for referencing the positions or coordinates of the prior art.

权利要求:
Claims (15)
[1]
1. Geodetic inspection system (1) that has - at least one reference component (100) that defines a reference point (23, 23a, 23b), in which an absolute position of the reference point 5 is known, and - at least one new point determination component (30), which derives a new relative point position (2, 3), in which an item of mutual relative reference information between the reference component (100) and the new component of reference point determination (30) is derivable, in particular, for the purpose of making reference to the reference point position, characterized by the fact that the inspection system (1) has a controllable aerial vehicle, not manned, automotive (50), where - the air vehicle (50) carries the reference component (100), through which the at least one reference point (23, 23a, 23b) is provided as a reference point mobile reference (23, 23a, 23b), and - the aerial vehicle (50) is implanted in such a way that the reference component the (100) is freely displaceable spatially, in particular, it is positioned substantially fixed in position, through the aerial vehicle (50) relative to the new point determination component (30).
[2]
2. Geodetic inspection system (1), according to claim 1, characterized by the fact that - the inspection system (1) has a reference point determination component (10) for determining the position of the absolute reference point in an absolute coordinate system, so that a line of sight (90, 91, 92) between the reference component (100) and, respectively, the new point determination component (30) and the reference point determination component (10) can be generated indirectly by a specific positioning of the reference component (100), and a reference of the new point position (2, 3) in the absolute coordinate system can be performed, and / or - a number of referenced points (23, 23a, 23b) can be generated by the spatial displacement of the air vehicle (50), and 5 - the air vehicle (50) is movable and can be positioned in an altitude range 1 m to 1,000 m, in particular, in a range of 2 m to 50 m, and / or the inspection (1) has an analysis unit (60) to - detect and designate - the position of the absolute reference point, which is determined and provided by the reference point determination component (10), the reference point (23, 23a, 23b) and - the respective item of reference information relative between the reference component (100) and the new point determination component (30), in particular, of measured angles and / or a distance to the respective reference point (23, 23a, 23b), where the item of relative reference information can be determined and provided by the new point determination component (30) as a function of the reference point position and a position of the new component of point determination (30), and - generate a match from the designation of the position of the absolute reference point and the respective item of relative reference information.
[3]
3. Inspection system (1) according to claim 2, characterized in that - the reference component (100) has a reflector (57) and - the reference point determination component (10) has a geodetic inspection device (40b), in particular, a total station or a theodolite, which has at least - a first targeting apparatus, in particular, a telescopic view, in which the first targeting apparatus is pivotal by a motor to change the alignment thereof with respect to a first base of the inspection device and has at least - a first emission unit that defines a first optical geometric axis and - a first beam source for the emission of a first measuring beam optical (42b) for distance measurement in parallel, in particular, coaxially, for the first optical geometry axis, - first angle measurement functionality for high precision acquisition of the alignment of the first target geometric axis, and - p first means of analysis for data storage and control of the alignment of the first targeting apparatus, and in which - the first measuring beam (42b) can be aligned in the reflector (57), in particular continuously, so that the position of the absolute reference point of the reference point (23, 23a, 23b) can be determined and provided in a geodetically precise way, and / or - the reference point determination component (10) has at least one transmitting unit to emit positioning signals and - the reference component (100) is deployed in such a way that the positioning signals are receivable, in particular through a GNSS antenna, and the position of the reference point can be determined at from positioning signals, in particular where the transmitting unit is deployed as a GNSS transmitter, in particular, a GNSS satellite (11, 11a, 11b), in particular, a GPS, GLONASS or Galileo satellite, and po signs positioning are incorporated by GNSS signals, in particular where - the reference point determination component (10) has a GNSS reference station to output GNSS correction signals and
[4]
- the reference component (100) is implanted in such a way 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 4. Inspection system (1), according to claim 2 or 3, characterized by the fact that the inspection system (1) has a control unit, in which the control unit is configured in such a way that a spatial geometric arrangement of the referenced points (23, 23a, 23b) is definable, in particular automatically, in particular in which the geometric arrangement of the referenced points (23, 23a, 23b) is defined as a function of an optimization to generate the pairing, and / or the control unit is configured in such a way that the air vehicle (50) is positionable as a function of the reference point position, which can be determined using the reference point determination component ( 10), in particular continuously, and / or as a function of the geometric arrangement of the referenced points (23, 23a, 23b), in particular automatically, and / or the control unit is configured in such a way that a trajectory flight (25) is definable and the air vehicle o (50) is mobile along the flight path (25), in particular, where the flight path (25) is definable as a function of the spatial geometric arrangement of the referenced points (23, 23a, 23b ).
[5]
Inspection system (1) according to any one of claims 1 to 4, characterized by the fact that the aerial vehicle (50) has a sensor unit (54) to determine the alignment of the aerial vehicle (50 ), in particular a tilt sensor, a magnetometer, an acceleration sensor, a yaw deviation sensor and / or a speed sensor, and / or the inspection system (1) has a remote control unit, in which the remote control unit is deployed in such a way that an aerial vehicle control (50) and / or a generation of the pairing can be carried out, in particular in which a communication between the remote control unit and / or the component reference point determination (10) and / or the new point determination component (30) and / or the reference component (100) can be carried out via wire, or by means of radio, infrared or laser signals , and / or the reference component (100) is implanted in such a way that the reference point position reference item and / or the relative reference information item may be provided indirectly by the reference component (100), in particular, where the reference component (100) has a transmitter to emit and / or a unit of reference. receiving to receive the reference point position and / or the relative reference information item, in particular where the reference point position and / or the relative reference information item are transmissible over wire, or by using radio, infrared or laser signals, in particular where the positioning signals (55) can be modulated in the reference point position.
[6]
Inspection system (1) according to any one of claims 1 to 5, characterized by the fact that - the reference component (100) has the reflector (57) and the new point determination component (30) has - a second targeting apparatus (41), in which the second targeting apparatus (41) is pivotable by a motor to change its alignment with respect to a second base of the new point-determining component (30) and has at least - a second emission unit that defines a second optical target axis and - a second beam source for emitting a second optical measuring beam (42, 42a) for measuring distance in parallel, in particular coaxially, for the second optical target axis, - second angle measurement functionality for high precision acquisition of the second target geometry axis and 5 - second analysis medium for data storage and control of the second alignment bleaching apparatus, and in which the undo measuring beam (42, 42a) can be aligned with the reflector (57), in particular, continuously, so that the relative reference information item, in particular for obtaining the position reference of the new component point determination method (30), can be determined and supplied as a function of the reference point position, so that pairing and / or the new point position (2, 3) can be determined in the system absolute coordinates, in particular a position of a measurable target point, or - the reference component (100) has a pseudo-satellite module (53) to emit the positioning signals (55), in particular, where the Positioning signals (55) represent the position of the absolute reference point and the new point determination component (30) has a satellite pseudoreceptor (32, 36), in which the satellite pseudoreceptor (32, 36) is implanted such that the positioning signals (55) emitted by the pseudose module satellite (53) are receivable and the item of relative reference information can be determined and provided, so that the new point position (2, 3) can be determined in the absolute coordinate system.
[7]
7. Geodetic referencing method that has - at least one reference component (100), which defines a reference point (23, 23a, 23b), in which an absolute position of the reference point is known, and - at least one new point determination component (30), which derives a new relative point position (2, 3),
wherein an item of mutual relative reference information between the reference component (100) and the new point determination component (30) is derived, in particular for the purpose of referencing in relation to the reference point position, 5 characterized by the fact that the at least one reference point (23, 23a, 23b) is provided as a movable reference point (23, 23a, 23b) by the reference component (100), where - the component reference (100) is performed by a controllable, unmanned, automotive aerial vehicle (50) and - the aerial vehicle (50) is deployed in such a way that the reference component (100) is freely displaced spatially, in particular - positioned home substantially fixed in position, by the air vehicle (50) in relation to the new point determination component (30).
[8]
8. Geodetic referencing method, according to claim 7, characterized by the fact that the position of the absolute reference point is determined in an absolute coordinate system using a reference point determination component (10), and / or by a specific positioning of the reference component (100), a line of sight (90, 91, 92) is indirectly generated between the reference component (100) and, respectively, the new component of point determination (30) and the reference point determination component (10) and a referencing of the new point position (2, 3) in the absolute coordinate system is performed, and / or the point of reference movable reference (23, 23a, 23b) is spatially displaced by the aerial vehicle (50), so that a number of referenced points (23, 23a, 23b) is generated, and the aerial vehicle (50) is moved and positioned in an altitude range of 1 m to 1,000 m, in particular in a range of 2 m to 50 m, and / or
- an acquisition and designation - of the position of the absolute reference point of the reference point (23, 23a, 23b), which is determined and provided by the reference point determination component (10), and 5 - the respective item relative reference information, in particular measured angles and / or a distance to the respective reference point (23, 23a, 23b), in which the item of relative reference information is determined and provided by the new determination component point (30) as a function of the reference point position and a position of the new point determination component (30), and - a pairing generation from the designation of the absolute reference point position and the respective item of relative reference information is carried out.
[9]
9. Geodetic referencing method, according to claim 7 or 8, characterized by the fact that a spatial geometric arrangement of the referenced points (23, 23a, 23b) is defined, in particular, automatically, in particularly in that the geometric arrangement of the referenced points (23, 23a, 23b) is optimized as a function of the generation of the wall, and / or the air vehicle (50) is positioned as a function of the reference point position , which can be determined, in particular, continuously, and / or as a function of the geometric arrangement of the referenced points (23, 23a, 23b), in particular automatically, and / or a flight path (25) is defined and the air vehicle (50) is moved along the flight path (25), in particular, in which the flight path (25) is defined as a function of the spatial geometric arrangement of the referenced points (23, 23a, 23b ).
[10]
10. Geodetic referencing method, according to claim 8 or 9,
characterized by the fact that, within the scope of the method, the positioning signals provided by the reference point determination component (10) are received by the reference component (100), in particular, GNSS signals provided by GNSS satellites (11 ), in particular where 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 (42b), which is reflected in the reference component (100) and is emitted by the reference point determination component (10), and / or an determination of an alignment of the air vehicle (50) in the pitch, roll and yaw directions is carried out, in particular in which the determination of the alignment is carried out by means of an internal sensor unit (54) designated for the air vehicle ( 50), in particular by means of a tilt sensor, magnetometer, acceleration sensor, yaw deviation sensor and / or speed sensor.
[11]
11. Geodetic referencing method, according to any one of claims 8 to 10, characterized by the fact that - within the scope of the method, the positioning signals (55), in particular the satellite pseudo signals (55) that represent the reference point position, are output by the reference component (100) and positioning signals (55) are received by the new point determination component (30) and the relative reference information item is determined as a function of the reference point position, so that the new point position (2, 3) is determined in the absolute coordinate system, or - the determination of the relative reference information item is carried out by means of a second beam measurement (42, 42a), which is emitted by the new point determination component (30) and is reflected in the reference component (100), so that the pairing and / or the new point position (2, 3) are determined in the ab coordinate system - 5 solutes, in particular a position of a measured target point.
[12]
12. Controllable, unmanned, automotive aerial vehicle (50), in particular a drone (drone), for an inspection system (1), as defined in any of claims 1 to 6, wherein the aerial vehicle ( 50) is freely spatially displaceable, in particular, substantially positioned in position, in relation to the new point determination component (30), characterized by the fact that the air vehicle (50) carries a reference component ( 100) to provide a movable reference point (23, 23a, 23b).
[13]
13. Air vehicle (50), according to claim 12, for an inspection system (1), as defined in any of claims 1 to 6, characterized by the fact that - control data to control the vehicle aerial (50) are receivable and / or - the control data to control the aerial vehicle (50) is derivable by a processing unit from receivable reference information items to determine a reference point position absolute, in particular where an air vehicle alignment can be determined by a sensor unit (54) assigned to the air vehicle (50), in particular where the position of the absolute reference point and the reference information item The relative units can be connected by the processing unit, so that a match can be generated, and / or the aerial vehicle (50) is implanted in such a way that - the mobile reference point (23, 23a, 23b) is spatially displaceable, in particular substantially positionable fixed in position, small
the aerial vehicle (50), so that a number of referenced points (23, 23a, 23b) and pairings can be generated, and - the aerial vehicle (50) is movable and can be positioned in an altitude range of 1 m to 1,000 m , in particular in a range of 2 m to 5 50 m, and / or the reference component (100) has a pseudo-satellite module (53) to emit positioning signals (55) to determine the relative reference information item , in particular to determine a new point position (2, 3) in an absolute coordinate system, and / or the reference component (100) has reflector (57) to determine the item of relative reference information, in particularly when targeting the reflector (57) using a laser beam, so that the pairings and / or the new point position (2, 3) can be determined in the absolute coordinate system, in particular a position of a measurable target point.
[14]
14. Use of an automotive, controllable, unmanned aerial vehicle (1) to carry a reference component (100) to an inspection system (1), as defined in any of claims 1 to 6.
[15]
15. Computer program product, which is stored in a machine-readable carrier or a computer data signal, incorporated by an electromagnetic wave, which has program code to execute the method, as defined in any of claims 7 to 11, in particular when the program is executed in an electronic data processing unit.

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR112013026194A2|2020-11-03|measurement system and method for determining points

---

US9377301B2|2016-06-28|Mobile field controller for measurement and remote control

---

US9233751B2|2016-01-12|Geodetic marking system for marking target points

---

US9958268B2|2018-05-01|Three-dimensional measuring method and surveying system

---

US7541974B2|2009-06-02|Managed traverse system and method to acquire accurate survey data in absence of precise GPS data

---

WO2017020641A1|2017-02-09|Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning

---

KR101553998B1|2015-09-17|System and method for controlling an unmanned air vehicle

---

JP5832629B2|2015-12-16|Measuring system for determining 3D coordinates of the surface of an object

---

US8745884B2|2014-06-10|Three dimensional layout and point transfer system

---

CA2876894A1|2015-07-31|Measuring system

---

US20050057745A1|2005-03-17|Measurement methods and apparatus

---

CN109751992B|2021-07-20|Indoor three-dimensional space-oriented positioning correction method, positioning method and equipment thereof

---

JP6708328B2|2020-06-10|Satellite positioning system and satellite positioning method

---

EP3093616A1|2016-11-16|Device and method for designating characteristic points

---

US11175134B2|2021-11-16|Surface tracking with multiple cameras on a pole

---

US20210190969A1|2021-06-24|Surface tracking on a survey pole

---

Rick2018|Total Station

---

CN110095659B|2021-06-22|Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device

---

JP2019219287A|2019-12-26|Survey system and survey method

---

WO2021127570A1|2021-06-24|Surface tracking with multiple cameras on a pole

同族专利:

---

公开号 | 公开日

---

AU2012241778A1|2013-09-19|

---

CA2833186A1|2012-10-18|

---

AU2012241778B2|2014-08-07|

---

EP2511658A1|2012-10-17|

---

EP2697605B1|2015-03-18|

---

WO2012140189A1|2012-10-18|

---

KR20130140864A|2013-12-24|

---

CN103477187B|2016-05-11|

---

CA2833186C|2016-12-13|

---

EP2697605A1|2014-02-19|

---

US20140210663A1|2014-07-31|

---

US9772185B2|2017-09-26|

---

KR101631555B1|2016-06-17|

---

CN103477187A|2013-12-25|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

FR2735240B1|1995-06-06|1998-01-30|Soc Et Rech Et Const Electroni|METHOD AND DEVICE FOR THE PRECISE DETERMINATION OF A MASK POINT BY SATELLITE RADIOLOCATION.|

---

US5644318A|1996-02-02|1997-07-01|Trimble Navigation Limited|SATPS dynamic surveying from a moving platform|

---

DE19710722C2|1996-03-15|2003-06-05|Pentax Corp|Automatic focusing device for a telescope|

---

JP3174551B2|1998-06-11|2001-06-11|旭光学工業株式会社|Focus adjustment lens position detector|

---

JP3500077B2|1998-10-14|2004-02-23|ペンタックス株式会社|Automatic focusing mechanism of collimating telescope|

---

JP5037765B2|2001-09-07|2012-10-03|株式会社トプコン|Operator guidance system|

---

US6535816B1|2002-06-10|2003-03-18|The Aerospace Corporation|GPS airborne target geolocating method|

---

US7095488B2|2003-01-21|2006-08-22|Rosemount Aerospace Inc.|System for profiling objects on terrain forward and below an aircraft utilizing a cross-track laser altimeter|

---

JP3715286B2|2003-02-28|2005-11-09|株式会社竹中工務店|Fixed point positioning method such as vertical reference point and fixed point position information recording system|

---

EP1517116A1|2003-09-22|2005-03-23|Leica Geosystems AG|Method and device for the determination of the actual position of a geodesic instrument|

---

US6955324B2|2003-10-22|2005-10-18|The Boeing Company|Laser-tethered vehicle|

---

EP1686350A1|2005-01-26|2006-08-02|Leica Geosystems AG|Modularly expandable geodetic total station|

---

FR2897163B1|2006-02-08|2008-04-11|Thales Sa|METHOD FOR GEO-LOCALIZATION OF ONE OR MORE TARGETS|

---

KR100938731B1|2006-09-26|2010-01-26|재단법인서울대학교산학협력재단|Self-Positioning System of Two-way Pseudolite|

---

EP1990607A1|2007-05-10|2008-11-12|Leica Geosystems AG|Method of position determination for a geodetic surveying apparatus|

---

EP2040030A1|2007-09-24|2009-03-25|Leica Geosystems AG|Positioning method|

---

CN102239420A|2008-12-05|2011-11-09|莱卡地球系统公开股份有限公司|A system and method of reference position determination|

---

US8602349B2|2010-06-23|2013-12-10|Dimitri Petrov|Airborne, tethered, remotely stabilized surveillance platform|

---

EP2423871B1|2010-08-25|2014-06-18|Lakeside Labs GmbH|Apparatus and method for generating an overview image of a plurality of images using an accuracy information|

---

EP2423873B1|2010-08-25|2013-12-11|Lakeside Labs GmbH|Apparatus and Method for Generating an Overview Image of a Plurality of Images Using a Reference Plane|

---

EP2511656A1|2011-04-14|2012-10-17|Hexagon Technology Center GmbH|Measuring system for determining the 3D coordinates of an object surface|

---

EP2511659A1|2011-04-14|2012-10-17|Hexagon Technology Center GmbH|Geodesic marking system for marking target points|

---

JP6367522B2|2013-02-28|2018-08-01|株式会社トプコン|Aerial photography system|

---

JP5882951B2|2013-06-14|2016-03-09|株式会社トプコン|Aircraft guidance system and aircraft guidance method|

---

CN107577247B|2014-07-30|2021-06-25|深圳市大疆创新科技有限公司|Target tracking system and method|

---

US9896202B2|2014-12-03|2018-02-20|X Development Llc|Systems and methods for reliable relative navigation and autonomous following between unmanned aerial vehicle and a target object|

---

EP3062066A1|2015-02-26|2016-08-31|Hexagon Technology Center GmbH|Determination of object data by template-based UAV control|

---

EP3165945A1|2015-11-03|2017-05-10|Leica Geosystems AG|Surface measuring device for determining the 3d coordinates of a surface|

---

EP3168704B1|2015-11-12|2021-02-24|Hexagon Technology Center GmbH|3d surveying of a surface by mobile vehicles|DE102012217282A1|2012-09-25|2014-03-27|Trimble Jena Gmbh|Method and device for assigning measuring points to a set of fixed points|

---

JP6367522B2|2013-02-28|2018-08-01|株式会社トプコン|Aerial photography system|

---

JP5882951B2|2013-06-14|2016-03-09|株式会社トプコン|Aircraft guidance system and aircraft guidance method|

---

CN103398681B|2013-07-18|2016-06-01|苏州亚和智能科技有限公司|A kind of six-degree-of-freedostereotactic stereotactic device and method|

---

WO2015045021A1|2013-09-25|2015-04-02|ビッグ測量設計株式会社|Method and system for measuring reference points on structure|

---

JP6316568B2|2013-10-31|2018-04-25|株式会社トプコン|Surveying system|

---

JP6326237B2|2014-01-31|2018-05-16|株式会社トプコン|Measuring system|

---

TWI534453B|2014-02-18|2016-05-21|原相科技股份有限公司|Relative position positioning system and tracking system|

---

US9581443B2|2014-03-17|2017-02-28|Ronald D. Shaw|Surveying system|

---

CN106661867B|2014-06-20|2020-12-11|住友重机械工业株式会社|Shovel and control method thereof|

---

WO2016019356A1|2014-08-01|2016-02-04|Shaw Ronald D|Surveying system|

---

GB2529442B|2014-08-20|2018-07-18|Jaguar Land Rover Ltd|Illumination system|

---

JP6442193B2|2014-08-26|2018-12-19|株式会社トプコン|Point cloud position data processing device, point cloud position data processing system, point cloud position data processing method and program|

---

JP6490401B2|2014-11-12|2019-03-27|株式会社トプコン|Tilt detection system and tilt detection method|

---

EP3021079B1|2014-11-14|2017-03-01|Leica Geosystems AG|Geodetic surveying system with task list visualization|

---

EP3034995A1|2014-12-19|2016-06-22|Leica Geosystems AG|Method for determining a position and orientation offset of a geodetic surveying device and corresponding measuring device|

---

EP3062066A1|2015-02-26|2016-08-31|Hexagon Technology Center GmbH|Determination of object data by template-based UAV control|

---

JP6843773B2|2015-03-03|2021-03-17|プレナヴ インコーポレイテッド|Environmental scanning and unmanned aerial vehicle tracking|

---

EP3086283B1|2015-04-21|2019-01-16|Hexagon Technology Center GmbH|Providing a point cloud using a surveying instrument and a camera device|

---

KR101688726B1|2015-04-23|2016-12-21|김득화|Flight vehicle and system for mobile environment data collection|

---

EP3106899B1|2015-06-16|2019-09-18|Leica Geosystems AG|Referenced vehicle control system|

---

KR101586978B1|2015-07-10|2016-01-19|배상완|System and method for rescuing sufferer in the sea|

---

US10598497B2|2015-08-18|2020-03-24|X-Control System Co., Ltd.|Method and device for generating geographic coordinates|

---

DE102015013104A1|2015-08-22|2017-02-23|Dania Lieselotte Reuter|Method for target approach control of unmanned aerial vehicles, in particular delivery docks|

---

KR101678105B1|2015-09-09|2016-11-30|순천대학교 산학협력단|Measurement system of river using in wireless flying apparatus|

---

JP6377169B2|2015-09-16|2018-08-22|エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ|System and method for estimating UAV position|

---

CN106323229A|2015-10-10|2017-01-11|北京控制与电子技术研究所|Orienting theodolite based on satellite orientation|

---

WO2017073310A1|2015-10-27|2017-05-04|三菱電機株式会社|Image capture system for shape measurement of structure, method of capturing image of stucture used for shape measurement of structure, onboard control device, remote control device, program, and recording medium|

---

KR101721364B1|2015-10-30|2017-04-10|김창영|water control valve MANAGEMENT METHOD USING GLOBAL POSITIONING SYSTEM AND Augmented reality|

---

CN105571636B|2015-12-10|2017-10-27|科盾科技股份有限公司|One kind is used to position mesh calibration method and measuring apparatus|

---

US9541633B2|2016-04-29|2017-01-10|Caterpillar Inc.|Sensor calibration system|

---

JP6739244B2|2016-06-07|2020-08-12|三菱電機株式会社|Positioning server, positioning system, positioning method, and positioning program|

---

WO2018016514A1|2016-07-22|2018-01-25|株式会社プロドローン|Attitude stabilization device and unmanned airplane equipped with same|

---

CN106454069B|2016-08-31|2019-11-08|歌尔股份有限公司|A kind of method, apparatus and wearable device of the shooting of control unmanned plane|

---

CN107783159A|2016-08-31|2018-03-09|松下电器（美国）知识产权公司|PALS, position measurement method and mobile robot|

---

JP6813427B2|2016-08-31|2021-01-13|パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ|Positioning systems, positioning methods, and mobile robots|

---

JP6796975B2|2016-09-16|2020-12-09|株式会社トプコン|UAV measuring device and UAV measuring system|

---

JP6817806B2|2016-12-21|2021-01-20|株式会社トプコン|Arithmetic logic units, arithmetic methods, arithmetic systems and programs|

---

JP6826888B2|2017-01-11|2021-02-10|株式会社トプコン|Surveying equipment, unmanned aerial vehicle search methods, surveying systems and programs|

---

EP3566178A4|2017-02-02|2020-08-26|Prenav Inc.|Tracking image collection for digital capture of environments, and associated systems and methods|

---

CN110325821B|2017-02-14|2021-12-07|天宝公司|Geodetic surveying with time synchronization|

---

JP6884003B2|2017-02-20|2021-06-09|株式会社トプコン|Unmanned aerial vehicle tracking equipment, unmanned aerial vehicle tracking methods, unmanned aerial vehicle tracking systems and programs|

---

JP6944790B2|2017-02-22|2021-10-06|株式会社トプコン|Controls, optics, control methods, unmanned aerial vehicle tracking systems and programs|

---

EP3385753A1|2017-04-03|2018-10-10|Centre National d'Etudes Spatiales|Relay vehicle for transmitting positioning signals to rovers with an optimized dilution of precision|

---

US10962653B2|2017-04-06|2021-03-30|Huawei Technologies Co., Ltd.|Positioning method and apparatus|

---

CN110998230B|2017-08-01|2021-11-02|认为股份有限公司|Driving system for working machine|

---

US10565730B2|2017-09-06|2020-02-18|Topcon Corporation|Survey data processing device, survey data processing method, and survey data processing program|

---

CN107621647A|2017-09-25|2018-01-23|武汉霸云创新科技有限公司|A kind of alignment system and method for overcoming aeronautical satellite valley effect|

---

JP2019064365A|2017-09-29|2019-04-25|株式会社トプコン|Unmanned aircraft control device, unmanned aircraft control method and program for control of unmanned aircraft|

---

JP2019067252A|2017-10-03|2019-04-25|株式会社トプコン|Route selecting unit, unmanned aircraft, data processing unit, route selection processing method, and program for route selection processing|

---

TWI657011B|2017-11-30|2019-04-21|財團法人工業技術研究院|Unmanned aerial vehicle, control system for unmanned aerial vehicle and control method thereof|

---

JP2019117127A|2017-12-27|2019-07-18|株式会社トプコン|Three-dimensional information processing unit, device equipped with three-dimensional information processing unit, unmanned aircraft, notification device, moving object control method using three-dimensional information processing unit, and program for moving body control process|

---

CN108267753A|2017-12-28|2018-07-10|福建中量智汇科技有限公司|The method, system and device that a kind of UAV Landing point automatically configures|

---

CN108255189A|2018-01-31|2018-07-06|佛山市神风航空科技有限公司|A kind of power patrol unmanned machine system|

---

KR101988212B1|2018-04-05|2019-06-12|주식회사 드로미|Surveying system using unmanned aerial vehicle and method using the same|

---

DE102018113244B3|2018-06-04|2019-11-07|Deutsches Zentrum für Luft- und Raumfahrt e.V.|Method and apparatus for measuring vibrations of an object using a drone|

---

KR102130655B1|2018-11-30|2020-07-06|한국해양과학기술원|Drones for geo-rectification with improved Discrimination|

---

EP3881025A1|2018-12-31|2021-09-22|Tomahawk Robotics|Systems and methods of remote teleoperation of robotic vehicles|

---

FR3107361A1|2020-02-19|2021-08-20|Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi|TAKE-OFF, NAVIGATION AND LANDING SUPPORT SYSTEM FOR UNMANNED AERIAL VEHICLES|

---

KR102163432B1|2020-02-24|2020-10-08|대원항업 주식회사|Numerical mapping system according to GPS and variation of location information of reference point|

---

CN111422343B|2020-03-31|2021-08-27|山东大学|Special unmanned aerial vehicle of half aviation transition electromagnetic detection receiving system|

---

US20210375145A1|2020-05-29|2021-12-02|Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company|Global Positioning Denied Navigation|

---

CN111721262B|2020-07-10|2021-06-11|中国科学院武汉岩土力学研究所|Automatic guiding method for total station tracking in field elevation measurement|

法律状态:
2020-11-17| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

---

2020-12-15| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

---

2021-03-30| B11B| Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements|

---

2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

---

申请号 | 申请日 | 专利标题

---

EP11162505.9|2011-04-14|

---

EP11162505A|EP2511658A1|2011-04-14|2011-04-14|Measuring system and method for new point determination|

---

PCT/EP2012/056758|WO2012140189A1|2011-04-14|2012-04-13|Measuring system and method for determining new points|

---