measuring system for measuring the position of a measuring point on the ground, update kit for a mea

专利摘要:
METHOD AND SYSTEM OF AGRIMENSURE. It is a surveying system for measuring the position of a measurement point (1) on the ground, which comprises a topographic beacon (10) with a body (13) with a pointing tip (12) to contact the point of measurement (1) and position providing means to make available the coordinative determination of a referenced position, being placed on the body (13) with a defined spatial relation to the tip (12), means of determination for repeatedly determining the referenced position the positioning means and assessment means (17) for deriving the position from the measurement point (1), in which the topographic beacon (10) additionally comprises an inertial measurement unit (18) placed on the body (13) with a defined spatial relationship in relation to the position providing means, in which the system additionally comprises means of processing IMU to repeatedly determine inertial state data based on the measurements taken by the unit of measurement inertial, and the evaluation means (17) are additionally configured to feed a predefined filter algorithm with the referenced position and the inertial state data determined repeatedly and derive from them the attitude data referenced for the topographic goal (10), with the use of a DDF in (...).
公开号:BR112015008424B1
申请号:R112015008424-9
申请日:2013-10-15
公开日:2021-01-12
发明作者:Damien Dusha
申请人:Leica Geosystems Ag；
IPC主号:

专利说明:

[001] The invention belongs to a measurement system and a measurement method to measure the position of a point on the ground with the help of a topographic beacon. It also belongs to an update kit and a measurement module for that measurement system and a computer program product to perform the steps of that measurement method.
[002] In surveying applications using the GNSS equipment, the measurement taken by the GNSS receiver does not correspond directly to the target point to be subjected to measurement; instead, it is a measurement of the position of the so-called "phase center" of the GNSS antenna. The current practice is to mount the antenna on a goal and make sure that the goal is perfectly vertical over the point of interest and compensate for the position by the length of the goal. Leveling the goal, however, is time consuming and it would be desirable to take measurements of the target position without the need to level the goal.
[003] In this document, a method is detailed in terms of precisely compensating the inclination of the goal using a fusion of relatively low cost inertial sensors (accelerometers and gyroscopes) and GNSS measurements. They have advantages over other revealed methods as inertial sensors are substantially lower in cost and sensor errors are estimated explicitly at run time.
[004] Global Navigation Satellite Systems (GNSS), such as the NAVSTAR Global Positioning System (GPS) are routinely used in surveying applications using Real Time Kinematics (RTK) algorithms, which correct a receiver's position using information from one or more nearby base station (s).
[005] The position measured by the GNSS receiver is in the so-called "phase center" of the GNSS antenna, which for a high-quality survey antenna is a well-quantified location, generally close to the mechanical center of the antenna. . However, the place of interest for the surveyor is not on the antenna, but at a point on the ground; the antenna is usually mounted on a beacon to optimize the reception of GNSS signals.
[006] Unless the goal is perfectly upright in relation to the ground, the horizontal position of the antenna will be offset in comparison to the place on the ground of interest. A leveling device, either a traditional spirit level or a more sophisticated array of sensors, can be used to determine whether a goal is upright to a degree of tolerance sufficient to make a measurement. Alternatively, if it is possible to accurately measure the angular orientation (the "attitude") of the goal, this error can be compensated, assuming that the length of the goal is known.
[007] Measuring the angle of the goal in relation to the ground is not a trivial exercise. While measuring the beacon angle of the vertical (tilt and roll) can be achieved accurately using a variety of methods (notably, measuring site gravity using accelerometers or inclinometers), measuring beacon orientation in relation to to True North (the turn or azimuth) is considerably more difficult.
[008] The most obvious way to achieve an azimuth measurement is with the use of an electronic compass, which has the ability to measure orientation in relation to Magnetic North. However, despite the deviation between Magnetic North and True North, the compass reading can also be affected by magnetic field disturbances such as iron metals and electrical currents, both of which are common around some construction sites. To avoid these disadvantages, another method of determining yaw is desirable.
[009] When installed in a conventional ground vehicle such as a car, the azimuth angle has the ability to be inferred from the speed of GNSS, since the vehicle is normally aligned with the direction of travel. However, since a beacon-mounted antenna can move in an arbitrary direction, GNSS speed is not a reliable means of determining azimuth.
[0010] When stationary, high-grade inertial sensors have the ability to measure the Earth's rate of rotation, which can then be used to find north. When using high quality gyroscopes ("gyros"), a procedure known as "gyro compass guidance" can be used while stationary to determine north by comparing the rate of rotation measured on each geometry axis.
[0011] Once a starting position and attitude are known, a high quality INE can navigate without reference to GNSS or other external measurements, making them useful for surveying applications when GPS is unavailable. This is described, for example, in US 2009 024 325 A1 which describes an INS used in a topographic survey application with an unavailable GNSS solution. However, as an inertial navigation solution rotates mathematically and integrates raw inertial sensor measurements, small errors will accumulate and the position solution (and azimuth solution, which must be maintained as a by-product) will move away without limit.
[0012] The problem of withdrawal from an INS has been studied extensively for some time. The deviation in the position and attitude solution (and thereby the means to compensate for the inclination of goal) can be contained by intelligently merging GNSS or other external measurements with an inertial navigation system - the so-called " Inertial Assisted Navigation "(AINS) - which has long existed in the aerospace industry and is now used in surveying applications.
[0013] Although inertial "navigation grade" and "tactical grade" inertial sensors - navigation grade refers to sensors that can be useful for independent navigation for many hours, for example, including Ring Laser Gyroscopes (RLG), while the tactical degree refers, in general, to navigation requirements for short flights, for example, including Fiber Optic Gyroscopes (FOG) - are undoubtedly useful in determining position and attitude (either Assisted GNSS or otherwise), they are also very expensive, heavy, bulky and suffer from high power consumption. In contrast, the last decade has seen the emergence of inertial sensors based on MEMS (Microelectromechanical Sensors) technology, which have substantially less performance compared to traditional high-grade devices, but have the advantage of being small, light and reliable. low power, and more than an order of magnitude less costly than high-grade inertial sensors. MEMS inertial sensors are now routinely integrated into low-precision consumer applications such as game console controls and mobile phones. MEMS sensors are usually "consumer grade" or "industrial grade", although some high performance silicon MEMS can also be considered tactical grade. The consumer grade refers to inexpensive sensors that have coarse motion detection for applications such as shock detection, free fall detection, mobile phones or computer game controls. The industrial grade refers to sensors that are useful for applications where some degree of motion detection is required, such as robot manufacturing, machine control, automotive electronic stability, Attitude and Course Reference Systems (AHRS) for assistance to start climb and entry level.
[0014] MEMS sensors, like many integrated circuit technologies, have substantially improved performance over time. Although they currently remain unsuitable for independent inertial navigation, they can be fused with GNSS measurements in a manner similar to a high-grade AINS solution to maintain an attitude solution of sufficient accuracy to compensate for the tipping of a topographic beacon. Furthermore, the combination of GNSS and INS is greater than the sum of its parts - the intelligent integration of the two allows the most substantial errors that exist in the inertial MEMS sensors to be estimated and removed.
[0015] The disadvantage of using MEMS devices is that they depend on a good quality GNSS solution to be available, which is generally the case for topographic examination and many related activities such as surveillance. Generally, more than a few seconds without a GNSS solution will cause the attitude to deviate from tolerance, depending on the degree of the sensor. Generally, a high quality position is required for surveying applications and therefore, deviation from the attitude during GNSS interruptions is not commonly problematic. Once GNSS is reacquired, a smaller gap will accelerate the conversion of the attitude solution. It is up to the designer to make the switch between stability and cost.
[0016] The attitude can be interpreted as a combination of three different rotations - roll, which (when related to an aircraft) is "wings up, wings down"; inclination, which is "nose up, nose down" and yaw, which corresponds to the direction the platform is pointing. Classically, tilt and roll are observed through measurements of the local gravity vector (which induces an acceleration measurement on accelerometers) and yaw is observed through the use of a magnetic compass.
[0017] Although in the prior art - for example, in documents US 2003 046 003 Al, US 5, 512, 905 A, EP 2 040 029 Al, EP 1 726 915 Al and JP 2005 043 088 A - an accelerometer ("sensor inclination ") and a compass have been used previously to compensate for the inclination of a goal, this is limited by the accuracy of the sensors and is subject to local magnetic field disturbances. For example, a typical MEMS accelerometer can be four degrees or more in error without careful factory calibration, which is unacceptable for surveying applications. Furthermore, without a high fidelity and computationally expensive magnetic model, even the location declination angle (the angle between true north and magnetic north) can be in error by up to three degrees, even without any local disturbance fields caused by (for example) cars and power lines.
[0018] When inertial sensor measurements are intelligently combined with GPS, both the yaw angle (even without the aid of a magnetic compass) and sensor errors so that tilt and roll errors can be estimated when subjected to particular movement conditions. At the particular yaw angle, generally considered to be the most difficult to estimate, it has been shown in the academic literature to converge to its true value when inertial sensors are subjected to changes in acceleration in the horizontal plane, which is often the case during surveying operations . The situation is further complicated for MEMS devices, which have significant errors compared to high-grade devices. In high-grade sensors, polarization errors in the vertical gyroscope are naturally observable through the Earth's rotation. In MEMS devices, the signal caused by the Earth's rotation is buried in noise and polarization. Therefore, MEMS will require more aggressive maneuvering to make the yaw observable, but the basic fact that is observable under movement is unchanged.
[0019] With that observation in mind, it can be seen that a magnetic compass is not strictly necessary for yaw estimation (and therefore can be removed if cost is a concern), but it can still be used for coarse initialization yaw or to provide additional measurements if the yaw has moved away due to lack of movement for some time.
[0020] The notation used in this document is as follows:
[0021] An identity matrix of size k is denoted by Ik. The rotation matrix from frame a to frame b is denoted by 5 :.
[0022] Here :. denotes an amount of vector α in frame b relative to frame a, expressed in terms of frame c.
[0023] [A] x is an antisymmetric matrix constructed from vector A so that when multiplied by vector B the result is equivalent to the cross product of A and B, that is [A] xB = AxB.
[0024] The time derivatives of a quantity are expressed using dot notation (eg: / -), estimated quantities (as distinct from their true values) are denoted with a hat (eg, -;. ).
[0025] In this document, frame b is the fixed body frame, frame n is a local tangent frame fixed to the earth (north, east, down), the frame and is the Centralized Earth and Fixed Earth (ECEF) ) and table i is the Centralized Earth Inertial table (ECI).
[0026] The GPS / INS estimates a position at the INS reference point, reeb. The position on the ground at the end of the goal, / ,, is desired. Since the deviation of the INS reference point from the tip of the goal, is known (ie the length of the goal and the location of the INS reference point at the end of the goal), the point at the tip can be calculated of the goal using:

[0027] The key to accurate tilt compensation is attitude estimation. Clearly, any errors in attitude will be associated with errors at the ground point.
[0028] The observation of sensor and attitude errors depends on comparing the difference between the GPS position and the INS position. GPS speed can also be used. Under movement, the position errors associated with the attitude errors can be separated indirectly. Note that an INS must maintain an accurate attitude representation as a by-product of calculating a position solution.
[0029] The integrated GPS / INS navigation systems have been widely used in the aerospace field, due to the complementary characteristics of the two navigation sources. As such, multiple textbooks have been published on the subject that recommends a so-called loosely associated error state system, for example Robert M. Rogers: Applied Mathematics in Integrated Navigation Systems. AIAA Education, 3rd edition, 2007.
[0030] There are several components in the integration architecture:
[0031] 1. An Inertial Measurement Unit (IMU), comprising three accelerometers, three gyroscopes in a nominally orthogonal configuration, associated support circuits for signal acquisition, pre-processing, time synchronization and removal of deterministic error;
[0032] 2. The mechanization of the Inertial Navigation System (INS), which rotates and mathematically integrates the measurements of rotation rate and accelerations of the IMU to estimate the position and attitude;
[0033] 3. A GPS receiver, which measures the position and speed of the antenna;
[0034] 4. A Kalman filter, which estimates position errors, errors in speed, errors in attitude, gyroscope polarizations and accelerometer polarizations, based on system error dynamics and observed difference between GPS and positions of INS; and
[0035] 5. Optionally, a magnetometer with two or three geometric axes to measure the Earth's magnetic field.
[0036] The key feature of the weakly associated classical error state estimator is the linearization of dynamics, which allows the use of a linear Kalman filter. The main disadvantage of using this architecture is the assumption that the errors are small and therefore the error introduced by linearization is negligible. While this may be true with the use of high quality sensors and a specific initialization procedure, topographic survey applications (and especially construction surveying) are significantly more cost sensitive than the aerospace domain and therefore the methods of estimations designed for high quality sensors are not necessarily applicable to lower cost inertial MEMS sensors described in the introduction. In particular, the small error assumption results in poor performance when using low-cost sensors. It is inherently clear that a better estimator is required for use with low-cost sensors.
[0037] In particular, the standard methods of integrating GPS / INS, as disclosed in US 2009 024 325 Al, have insufficient performances to reliably determine the beacon's attitude when using industrial grade sensors . Therefore, these methods are fundamentally not viable for industrial grade sensors.
[0038] It is, therefore, an objective of the present invention to provide an improved measurement system and an improved measurement method for measuring the position of a measurement point on the ground.
[0039] It is another objective of the present invention to provide this measurement system and this measurement method to measure quickly, reliably and accurately the position of a measurement point on the ground.
[0040] An additional objective of the invention is to provide this measurement system at lower costs.
[0041] According to the invention, a measurement system for measuring the position of a measurement point on the ground comprises a topographic beacon. The topographic beacon comprises a body that has a pointing tip to contact the measurement point and means providing position to make available the coordinative determination of a referenced position. Position-providing means - for example, a GNSS receiver, such as a GPS antenna, or a retro-reflector for use with a total station - are placed over the body of the topographic beacon with a defined spatial relationship to the tip. The topographic beacon additionally comprises an inertial measurement unit that is placed on the body with a defined spatial relation in relation to the position providing means and is designed in the form of a microelectromechanical system and comprises IMU sensors that include accelerometers and gyroscopes.
[0042] The measurement system comprises means of determination to repeatedly determine the referenced position of the position supplying means and IMU processing means to repeatedly determine the inertial state data based on the measurements made by the measurement unit. inertial measurement. The measurement system also comprises evaluation means to derive the position of the measurement point at least on the basis of the referenced de-terminated position and the defined spatial relationship of the means providing position in relation to the tip. The evaluation means are also configured to feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and to derive from them the attitude data referenced for the topographic goal, taking into account the defined spatial relation of the inertial measurement unit in relation to the position providing means, and to use the referenced attitude data to derive the position of the measurement point.
[0043] According to the invention, the evaluation means are configured to use a Split Difference Filter (DDF) in the predefined filter algorithm.
[0044] Preferably, the inertial measurement unit is designed in the form of a microelectromechanical system and comprises IMU sensors that include accelerometers and gyroscopes.
[0045] In a preferred mode the inertial measurement unit comprises three accelerometers in a mutually orthogonal configuration and three gyroscopes in a mutually orthogonal configuration.
[0046] In one embodiment, the inertial measurement unit with inertial sensors of "tactical grade" or less, that is, that typically have:
[0047] • a gyro polarization stability of> 0.1 degree / hour,
[0048] •• a gyro scale factor of> 10 ppm,
[0049] • a gyro noise of> 0.01 degree / rtHr,
[0050] • an accelerometer polarization stability of> 0.1 mg,
[0051] • an accelerometer scale factor of> 100 ppm and
[0052] • an accelerometer noise of> 20 ug / rtHz.
[0053] In a preferred mode, inertial sensors are "industrial grade" or "automotive grade", that is, they typically have:
[0054] • a gyro polarization stability of> 1 degree / hour,
[0055] • a gyro scale factor of> 1,000 ppm,
[0056] •• a gyro noise of> 1 degree / rtHr,
[0057] • an accelerometer polarization stability of> 1 mg,
[0058] • an accelerometer scale factor of> 1,000 ppm and
[0059] • an accelerometer noise> 100 ug / rtHz.
[0060] In another preferred embodiment, the IMU processing means are configured to determine the inertial position data and the inertial attitude data as part of the inertial state data, particularly, in addition, the inertial speed data and parameters of IMU sensor error.
[0061] In an additional preferred mode, the inertial measurement unit additionally comprises at least one magneto- meter, particularly two or three magnetometers in a mutually orthogonal configuration, and the IMU processing means are also configured to determine the compass data. attitude as part of the inertial state data.
[0062] Preferably, the IMU processing means are configured to repeatedly determine the inertial state data at a higher rate than the referenced position determination means, and the evaluation means are configured to feed the predefined filter algorithm with the inertial state data determined repeatedly at a rate higher than that with the referenced position determined repeatedly.
[0063] In a preferred embodiment, the position supply means comprise a retro reflector, and the determination means comprise a total station or a tachometer to measure the referenced position of the retro reflector.
[0064] In another preferred embodiment, the position providing means comprise a GNSS antenna, in particular a GPS receiver, and the determining means comprise a GNSS processing unit for processing the output signals from the GNSS antenna and deriving the referenced position of the GNSS antenna.
[0065] In another preferred modality, the assessment means are additionally configured to derive referenced attitude data, which, for example, can be represented by a referenced yaw angle, that is, a referenced heading or azimuth angle, as well as a referenced pitch angle and a referenced roll angle, that is, referenced inclination angles, of the topographic goal.
[0066] Another aspect of the invention is an update kit for a measurement system, the update kit being adapted to detect attitude data, in which the measurement system comprises a topographic beacon with a body that has a tip of pointer to contact the measuring point and position providing means to make available the coordinative determination of a referenced position, the position providing means being placed on the body with a defined spatial relation to the tip, particularly where the means Position providers comprise a retro-reflector and / or a GNSS antenna, determination means for repeatedly determining the referenced position of the position provider means and first assessment means for deriving the position of the measurement point at least based on the determined referenced position and in the defined spatial relation of the media providing position in relation to the tip. In accordance with the invention, the update kit comprises an inertial measurement unit to be placed on the body with a defined spatial relationship in relation to the position providing means, wherein the inertial measurement unit comprises IMU sensors that include accelerators. rometers and gyroscopes, IMU processing means to repeatedly determine inertial state data based on measurements made by the inertial measurement unit, and second evaluation means configured to feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from them the attitude data referenced for the topographic beacon, taking into account a defined spatial relation of the inertial measurement unit in relation to the position supply means, preferably with the use of a Difference Filter Divided into the predefined filter algorithm, and with the additional use of the data attitude s referenced to derive the position of the measuring point.
[0067] Preferably, the update kit comprises means for attaching the update kit or parts thereof, in particular the inertial measurement unit, to the topographic beacon.
[0068] In a preferred mode, the update kit includes means to detect and / or define a spatial relationship of the inertial measurement unit in relation to the position supply means.
[0069] Another aspect of the invention is a measurement module for a measurement system, the measurement module being adapted to detect attitude data, in which the measurement system comprises a topographic beacon with a body that has a sharpener tip to contact the measurement point. The measurement module comprises position-providing means to make available the coordinative determination of a referenced position, in which the position-providing means must be placed on the body with a defined spatial relation to the tip, particularly where the means providing position position comprise a retro-reflector and / or a GNSS antenna, the determination means for repeatedly determining the referenced position of the position providing means and assessment means for deriving the position of the measurement point at least based on the determined referenced position and in the defined spatial relation of the media providing position in relation to the tip. According to this aspect of the invention, the measurement module additionally comprises an inertial measurement unit to be placed on the body with a defined spatial relation in relation to the position providing means, in which the inertial measurement unit comprises IMU sensors that include accelerometers and gyroscopes, and IMU processing means to repeatedly determine inertial state data based on measurements made by the inertial measurement unit. The evaluation means are configured to receive the referenced position determined repeatedly and the inertial state data determined repeatedly, feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive the attitude data from them. referenced to the topographic beacon, taking into account the defined spatial relationship of the inertial measurement unit in relation to the position supply media, use a Divided Difference Filter in the predefined filter algorithm, and use the referenced attitude data to derive the measuring point position.
[0070] The measurement method according to the invention comprises:
[0071] • repeatedly determine the referenced position of the position providers,
[0072] • derive the position of the measurement point at least based on the determined referenced position and the defined spatial relationship of the position supplying means, for example, a retro-reflector or a GNSS receiver, in relation to the tip,
[0073] • repeatedly determine inertial state data based on measurements made by the inertial measurement unit and
[0074] • feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from them the attitude data referenced for the topographic goal, taking into account the defined spatial relation of the unit of inertial measurement in relation to position supplying means, and
[0075] • additionally use the referenced attitude data to derive the position of the measurement point.
[0076] In a preferred embodiment of the method according to the invention a Divided Difference Filter (DDF) is used in the predefined filter algorithm.
[0077] In another preferred modality of the method, the referenced attitude data are derived, which, for example, can be represented by a referenced yaw angle, that is, a referenced bearing or azimuth angle, as well as an angle of referenced pitching and a referenced rolling angle, that is, referenced inclination angles, of the topographic goal.
[0078] In another preferred embodiment, the inertial position data and the inertial attitude data are determined as part of the inertial state data, in addition, preferably the inertial speed data and IMU sensor error parameters, especially in which the IMU sensor error parameters are determined based on an error model for the IMU sensors that include at least one of:
[0079] • sensor polarization,
[0080] • sensitivity errors,
[0081] • misalignment and
[0082] • non-linearity errors,
[0083] • as well as - in relation to gyroscopes - sensitivity to acceleration.
[0084] The inertial navigation process is to take measurements of angular rate and specific force, correct any errors, and integrate the sensors as required to produce a solution of position, speed and attitude in relation to a frame of reference. The mechanization of INS can be carried out in numerous reference frames, but a convenient choice is the Centralized Earth and Fixed Land (ECEF) frame as it is the natural coordinate system for GPS.
[0085] Since inertial measurements are taken in relation to inertial space, a correction to the Earth's rotation rate is required. The mechanization equations of INS in the ECEF framework can be declared as:

[0086] where ge (; • £.) Is the gravity vector in the ECEF frame as a function of position,, '5: - is the speed in the earth frame and is the rotation matrix between the body and land pictures. Equivalent expressions can be derived for other frames of reference and / or representations of attitude.
[0087] Since there will always be a lever between the Navigation Center (CoN) of the IMU and the GPS antenna, the observation equations related to the position of the GPS antenna must take this into account, ie

[0088] in which it is.is the position of the antenna in the frame of the Earth.
[0089] The mechanization of INS and observation equations assumed perfect knowledge of measurements of angular rate and specific force. However, inertial sensors contain several errors that need to be taken into account.
[0090] For a triad of accelerometers, the specific force measurement, j4, consists not only of the true specific force 4-, but also includes several deterministic and random errors.

[0091] where Sa is the scale factor and misalignment matrix, ba is the long-term polarization vector, Na is the non-linearity matrix and nα is a white noise vector.
[0092] A triad of gyroscopes will exhibit errors similar to accelerometers, but will have an additional acceleration-induced error. Therefore, a measurement model for body angle rate measurements <:. is as follows:

[0093] where . ■ <- represents the true angular body rates and Gg is the acceleration sensitivity.
[0094] Not all terms can be significant and can be accumulated in white noise and polarization terms that vary with time. Another, such as non-linearity, may be suitable for production compensation and measurement, but not for online estimation. Some errors can be modeled appropriately as a random constant while others can be consistent with a Gauss-Markov process or a Random Walk.
[0095] Polarization is a deviation in each of the sensors and consists of several difference components: I> ,; = br 4- bt 4- bo
[0096] where bT is a temperature-dependent polarization term, bt is a polarization term that varies slowly with time and b0 is a constant polarization, which consists of a manufacturing polarization (that is, constant from manufacturing) and activation bias (ie changes each time the device is activated). It is generally considered essential to estimate instrument bias, even for high quality inertial sensors.
[0097] The scale factor and misalignment matrix (SFA) Sa represents two common errors in the sensors; scale factor (sometimes called sensitivity errors) and cross-axis sensitivity errors (sometimes called misalignments). Cross-axis sensitivity errors are a combination of non-orthogonal mounting (ie, sensors not perfectly 90 ° mounted) and instrument sensitivity to orthogonal acceleration components. Therefore, errors can be written as:

[0098] where [s ,, are the individual scale factor errors for the geometric axes of the accelerometer (three components) and '' are the cross-axis sensitivity components.
[0099] Sensitivity is also dependent on temperature.
[00100] The effects of zero order and first order errors are taken into account in the polarization and SFA components, respectively. However, since MEMS devices typically have a non-linearity in the order of 1%, it is worth describing the error model, at least for factory calibration purposes. The error model, which includes non-linear cross coupling, is as follows:

[00101] in which £. = [fj-N] '. Gyroscopes are also sensitive to acceleration to the order of 0.1 ° / s / g, which is the same order of magnitude as the activation polarization when subjected to gravity. Therefore, it may be worth modeling to determine its effect. Acceleration sensitivity (sometimes called g-sensitivity), including second-order effects, is given by:

[00102] Other errors are sometimes referred to or modeled in the literature. They include scale factor asymmetry, lock-in (typically seen in optical gyroscopes), quantization error, sinusoidal noise, scintillation noise, correlated noise and ramp rate noise; the latter are typically mentioned in the context of an Allan plot of variance. The random random walk (or random speed walk for accelerometers) refers to white noise at the 1 Hz point on Allan's variance graph.
[00103] Generally, these errors will be small compared to white noise in the current generation of MEMS devices, or they can be incorporated into a random walk polarization component, unless there is convincing evidence that they should be modeled individually.
[00104] Among the possible sources of error for inertial sensors, some will need to be estimated online while others are stable and small enough to be ignored or measured and compensated for in production. Each error term becomes an additional state in the filter and, therefore, increases the computational requirement to estimate online. Polarization terms will almost always be estimated online. Scale factor and misalignment terms are sometimes estimated online. Other terms are estimated online only rarely. The selection of instrument errors to estimate online is an engineering shift between sensor quality, computational resources and desired system accuracy.
[00105] The INS mechanization equations and the GNSS measurements together constitute a process and measurement model in the following form:

[00106] where the state vector x (t) consists of the parameters of position error, speed, attitude and sensor with covariance P (k), u (t) is a "control vector" consisting of IMU measurements , ev (t) is a white noise vector with covariance Q (k), modeling the IMU measurement noise and triggering any process model of the sensor error dynamics. Similarly, y (t) consists of GNSS measurements (position and, optionally, speed) as a function of the current (true) state and the measurement noise vector w (t) with covariance R (k).
[00107] The estimation task is to infer the state vector x (t), given a set of measurements with noise y (k), y (k-l), ..., y (k-n). For a general non-linear function, an ideal general estimate for x (t) is not possible and therefore sub-ideal filters are of interest. As noted earlier, a linearized approach can work poorly with low-cost sensors and more sophisticated schemes are desirable.
[00108] The estimator adopted for this task is the Divided Difference Filter (DDF), first published by Norgaard (M. Norgaard, N. Poulsen, O. Ravn: "New developments in state estimation for nonlinear systems". Automatica, 36 (11): 1.627 to 1.638, 2000) and was shown to have superior performance to the (linearized) Extended Kalman Filter (EKF). Conceptually, the principle underlying DDF resembles that of EKF and its higher order relative. The implementation is, however, quite different. The main difference between DDF and EKF is that DDF recovers the medium and covariance from several samples propagated through the complete nonlinear dynamics of the system. The samples are selected based on the Stirling interpolation formula which is conceptually similar to the Taylor approximation, but with very different results. In addition, these samples can take into account the nonlinear dynamics of how the process noise propagates through the system. In comparison to this, EKF propagates a single sample through non-linear dynamics with zero noise to estimate the medium, and the covariance propagated through a linearization of state dynamics.
[00109] For reasons of computational efficiency and numerical stability, covariance matrices are implanted in terms of their Cholesky factors instead of symmetric matrices, that is

[00110] The prior update is then carried out as follows.
[00111] Suppose that the jth column of the matrix Sx is denoted Sx, j. Four "divided difference" matrices are then constructed as:

[00112] where h is an adjustment factor that controls the dispersion of covariance. Note that only functional assessments are required, not any derivatives. A total of 2 (Nx + Nv) +1 functional evaluations are required, where Nx is the length of the state vector and Nv is the length of the process noise vector.
[00113] The predicted medium, x (k + 1 | k), can then be calculated as:

[00114] The predicted covariance Cholesky factor is then calculated as:

[00115] where S = triag (A) produces a triangular matrix so that SST = AAT. The prior update is performed in a similar way.
[00116] Suppose that s * ~ sÁk + 1 k) 'xe (k + l k) e A set of four matrices is defined with the columns being:

[00117] Note again that no derivatives are required - only 2 (Nx + Nv) +1 functional evaluations.
[00118] The predicted measurement is given as:

[00119] With the predicted measurement covariance factor (note that it is not triangulated) given by:

[00120] The cross covariance of measurements and states is given by:

[00121] With the Kalman Gain calculated as:

[00122] The state vector is then updated as:

[00123] With the state Cholesky factor updated as:

[00124] A key component of the GPS / INS filter is attitude estimation. The implicit assumption of DDF is that the variables in the state vector belong to the vector space (addition, scaling and other mathematical operations apply). However, the attitude does not belong to the vector space as it can easily be shown that the attitude angles are not additive. Instead, the attitude belongs to the special orthogonal group and, therefore, the vector operations that underlie DDF cannot be used directly.
[00125] In addition, some representations of attitude are covered (more than a numerical value for the same attitude), which is problematic for a filter in which points are weighted and averaged. For example, the arithmetic medium of rotation vectors [π 0 0] and [-π 0 0] (which represent the same rotation) results in [0 0 0], while the average true angle should result in [π 0 0] or [-π 0 0].
[00126] The direct representation of attitude as a state in a DDF is, therefore, problematic. The solution of the present invention was adapted from the spacecraft navigation literature originally developed for a different estimation filter: J. Crassidis, F. Markley: "Unscented filtering for spacecraft attitude estimation. Journal of Guidance Control and Dynamics, 26 (4): 536, 2003. Although large angles are not additive, small angles denoted in a representation of three parameters are approximately additive, so representing the state of attitude as a deviation from a nominal attitude (ie, a state of error) will allow the same is applied and the DDF framework can be used with only minor modifications, it is worth noting the difference between this approach and that revealed in US 2005 0 251 328, in which the quaternion attitude is used directly in the state vector. problematic for two reasons: first, as discussed, quaternions certainly do not belong to the vector space, and second, the requirement to maintain the magnitude of The quaternion unit makes a weighted average of points difficult to apply.
[00127] For technical reasons, the attitude of the goal is maintained as a unitary quaternion, which is a representation of four attitude parameters. Quaternions are discussed in detail in J. A. Farrell, Aided Navigation: GPS with High Rate Sensors. McGraw Hill, 2008, and other representations of attitude are discussed in Malcolm D. Shuster, A survey of attitude representations. Journal of the Astronautical Sciences, 41 (4): 439 to 517, 1993.
[00128] For an attitude representation of three parameters, the Generalized Rodrigues Parameters (GRP) are chosen, which have a simple conversion of a Quaternion based on two parameters a and f which control the location of the singularity in the GRP. All representations of three parameters have a singularity or other ambiguous representation at specific angles. Depending on the designer, ensure that the singular point (s) will not be found.
[00129] For a quaternion, the conversion between a q = [q0, q] T, the conversion between a quaternium and GRP can be achieved as follows:

[00130] Similarly, a Quaternium can be constructed from a GRP as follows:

[00131] To illustrate the implementation of the filter, the state vector for the GNSS / INS filter is chosen as follows:

[00132] in which it is the GRP attitude error, it is the position of the Navigation Center (CoN) in relation to the ECEF frame, it is the speed of the CoN in relation to the land and the remaining terms are inertial sensor errors as described above. Optionally, the system designer can choose to deploy other inertial sensor errors such as Scale Factor or Cross Geometry Axis Sensitivity, or the lever arm between the IMU and GNSS antenna, depending on the quality of the sensors and computing resources available.
[00133] The quaternion of attitude ç * is maintained separately from the status vector and will be described further below.
[00134] Note that since the attitude error forms part of the state vector, the initial nominal attitude ç * from which the deviation is, and the central predicted attitude <i (k + 1 | k) must be part of the "control input" for the modified INS mechanization equations, which are described below.
[00135] For a given attitude error a priori -fj :. (k | k) at time k, an error quaternion is generated (reducing the parameters of GRP a and f):

[00136] The generated error quaternium is used to adjust the nominal attitude quaternium

[00137] The adjusted attitude i (k | k) is then propagated through the normal INS Mechanization equations (as described above) to (k +1 | k). The anomaly of the predicted central sigma point (k +1 | k).

[00138] The attitude error that forms the predicted state is generated from the central predicted attitude anomaly

[00139]
calculated is then propagated through the equations, which will produce a medium anomaly,
computed media anomaly is converted to quaternion:

[00140] before being used to correct the centrally predicted quaternion:

[00141] Since the medium attitude anomaly is used to correct the attitude maintained externally, the same reset to zero at the end of this operation. Note that since only the medium is changed, the covariance remains unchanged.
[00142] The remaining issue is how to obtain the predicted central quaternion, (k +1 | k). The same is obtained simply by propagating the zero noise state vector through the INS mechanization equations. At this point, by definition, the attitude anomaly GRP is zero.
[00143] A measurement update can be performed using a similar process. A quaternion anomaly is generated from the GRP for a given state vector

[00144] The attitude used to predict the measurement can then be calculated as:

[00145] The measurement equations for the DDF are calculated; .í (k +1 | k), producing an updated state estimate
which can then be converted to a quaternion:

[00146] The quaternion
is then used to update the predicted quaternion


[00147] The following invention will be described in detail referring to exemplary modalities that are accompanied by figures, in which:
[00148] Figure 1a shows a first embodiment of a topographic beacon according to the invention;
[00149] Figure 1b shows a second embodiment of a topographic beacon according to the invention;
[00150] Figure 2 illustrates the measurement method for measuring the position of a measurement point according to the invention;
[00151] Figure 3 shows a measurement system with the first modality of a topographic beacon according to the invention;
[00152] Figure 4 shows a measurement system with the second modality of a topographic beacon according to the invention;
[00153] Figure 5 shows an update kit for a measurement system; and
[00154] Figure 6 shows a measurement module of a measurement system.
[00155] Figure 1a shows a first embodiment of a topographic beacon 10 as part of a measurement system according to the invention. Topographic beacon 10 has a rigid rod-shaped body 13 with a sharpener tip 12 for contacting a measurement point on the ground. The body 13 defines a geometrical axis of the beacon 15. The beacon 10 comprises means of retro-reflector 11 as means providing position to make available the coordinative determination of a referenced position, the means of retro-reflector 11 being positioned on the body 13 in a known position with respect to the tip 12. The system also comprises determination means for repeatedly determining the referenced position of the position providing means. The topographic beacon 10 additionally comprises an inertial measurement unit 18 placed on the body 13 with a defined spatial relation in relation to the position providing means, in which the inertial measurement unit 18 is designed in the form of a microelectromechanical system and comprises IMU sensors that include accelerometers and gyroscopes. The beacon 10 comprises evaluation means 17 for deriving the position of the measuring point 1 at least based on the determined referenced position and the defined spatial relationship of the position providing means in relation to the tip 12.
[00156] The inertial measurement unit 18 comprises three accelerometers in a mutually orthogonal configuration, that is to say in a configuration so that their geometrical axes of measurement are orthogonal to each other, and three gyroscopes in a mutually orthogonal configuration, that is, in a configuration so that its geometric axes are orthogonal to each other.
[00157] Figure 1b shows a second modality of a topographic balance 10 with part of a measurement system according to the invention. Topographic beacon 10 has a rigid rod-shaped body 13 with a sharpener tip 12 for contacting a measurement point on the ground. The body 13 defines a geometrical axis of the beacon 15. The beacon 10 comprises a GNSS receiver 19 as means providing position to make available the coordinative determination of a referenced position, in which the GNSS receiver 19 is positioned on the body 13 in a known position with respect to the tip 12. The system also comprises determination means for repeatedly determining the referenced position of the position providing means. The topographic beacon 10 additionally comprises an inertial measurement unit 18 placed on the body 13 with a defined spatial relation in relation to the position providing means, in which the inertial measurement unit 18 is designed in the form of a microelectromechanical system and comprises sensors of IMU's that include accelerometers and gyroscopes. The beacon 10 comprises evaluation means 17 for deriving the position of the measuring point 1 at least based on the determined referenced position and the defined spatial relationship of the position providing means in relation to the tip 12.
[00158] The inertial measurement unit 18 comprises three accelerometers in a mutually orthogonal configuration, that is to say in a configuration so that their geometrical axes of measurement are orthogonal to each other, and three gyroscopes in a mutually orthogonal configuration, that is, in a configuration so that its measuring geometry axes are orthogonal to each other.
[00159] Although the inertial measurement unit 18 in Figures 1a and 1b is portrayed as an external feature of the goal 10, it obviously can also be integrated inside the body 13. Furthermore, the evaluation means 17, which are depicted in Figures 1a and 1b as an external resource of the goal 10, can also be part of the inertial measurement unit 18 or the GNSS receiver 19, or integrated into the body 13.
[00160] Figure 2 illustrates the measurement method according to the invention. A topographic beacon 10 is depicted with a body 13 with a pointer tip 12 for contacting measurement point 1 and a GNSS receiver 19 as a means providing position to make available the coordinative determination of a referenced position. The GNSS receiver 19 is placed over the body 13 with a defined spatial relation to the tip 12.
[00161] The topographic beacon 10 additionally comprises an inertial measurement unit 18 placed on the body 13 with a defined spatial relation in relation to the GNSS receiver 19. The inertial measurement unit 18 is designed in the form of a microelectromechanical system and comprises IMU sensors that include accelerometers and gyroscopes. The evaluation means 17 are provided to derive the position of the measuring point 1 at least based on the determined referenced position and the defined spatial relationship of the position supplying means with respect to the tip 12.
[00162] The data flow is depicted with broken line arrows: The GNSS receiver 19 provides referenced position data and the inertial measurement unit 18 provides inertial state data. By feeding these data into a predefined filter algorithm of the assessment means 17, the Referenced Attitude Data for the topographic goal 10 are derived. These Referenced Attitude Data and referenced position data data provided by the GNSS 19 receiver are used to derive the position from measurement point 1. Instead, the referenced position data provided by the GNSS 19 receiver, the position of the inertial measurement unit 18 calculated by the filter can be used. The spatial relationship is then between the CoN of the inertial measurement unit 18 and the tip 12, but the requirement for the attitude is unchanged.
[00163] The measurement method according to the invention comprises
[00164] • repeatedly determine the referenced position of the position providers,
[00165] • derive the position of the measuring point 1 at least based on the determined referenced position and the defined spatial relationship of the position supplying means, for example, the retro reflector 11 or the GNSS receiver 19, in relation to the tip 12,
[00166] • repeatedly determine the inertial state data based on the measurements made by the inertial measurement unit 18 and
[00167] • feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from them the attitude data referenced for the topographic goal 10, taking into account the defined spatial relationship of the unit of inertial measurement 18 in relation to the position supply media, and
[00168] • additionally use the referenced attitude data to derive the position of measurement point 1.
[00169] In Figure 3, a measurement system that comprises the first modality of topographic beacon 10 (as shown in Figure 1a) and a total station 20 is depicted.
[00170] The topographic beacon 10 comprises a rigid rod-shaped body 13 that has a pointing tip 12 for contacting a measurement point 1 on the ground, the body 13 defining a geometrical axis of the beacon 15. The retroreflective means 11 are positioned on the body 13 in a known position with respect to the tip 12. A portable display and a control device comprising evaluation means 17 are retained by a user who operates the goal 10.
[00171] The total station 20 comprises a telescope unit that is adapted to measure a distance to the retro-reflector 11 of the inclined goal 10.
[00172] The user positions the tip 12 of the topographic marker 10 at a measurement point 1, whose position must be determined. By means of the total station 20 and the retro reflector 11, the referenced position data of the topographic beacon 10 are provided. The inertial measurement unit 18 provides inertial state data for the topographic beacon 10. The assessment means 17 of these data derives the Referenced Attitude Data for the topographic beacon 10. The Referenced Attitude Data is then used to derive a position from the measurement 1.
[00173] In Figure 4, a measurement system that comprises the second modality of topographic goal 10 (as shown in Figure 1b) is revealed.
[00174] Topographical beacon 10 comprises a rigid rod-shaped body 13 that has a pointing tip 12 for contacting a measurement point 1 on the ground, body 13 defining a geometrical axis of beacon 15. A GNSS receiver 19 is positioned on the body 13 in a known position with respect to the tip 12. A portable display and control device comprising evaluation means 17 is retained by a user who operates the goal 10.
[00175] The user positions the tip 12 of the topographic marker 10 at a measurement point 1, whose position must be determined. By means of satellites 9 and the GNSS receiver 19, the referenced position data of the topographic beacon 10 is provided. The assessment means 17 from these data derive Referenced Attitude Data for the topographic beacon 10. The Referenced Attitude Data is then used to derive a position from measurement point 1.
[00176] In Figure 5, an update kit 30 for a measurement system is depicted. The measurement system comprises a topographic beacon 10 with a body 13 having a pointing tip 12 for contacting the measurement point 1 and a GNSS antenna 19 the position supply means for making the coordinative determination of a referenced position available. The GNSS antenna 19 is positioned on the body 13 with a defined spatial relationship in relation to the tip 12.
[00177] The system also comprises determination means to repeatedly determine the referenced position of the position providing means and first assessment means 17 to derive the position of the measuring point 1 at least based on the determined referenced position and the defined spatial relationship of the means providing position in relation to the tip 12. The update kit 30 comprises an inertial measurement unit 38 to be placed on the body 13 of the topographic beacon 10 with a defined spatial relation in relation to the means providing position, in which the unit inertial measurement 38 comprises IMU sensors that include accelerometers and gyroscopes, IMU processing means for repeatedly determining inertial state data based on measurements made by the inertial measurement unit, and second evaluation means 37.
[00178] The second evaluation means 37 are configured to receive the referenced position determined repeatedly and the inertial state data determined repeatedly, feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from the same the attitude data referenced for the topographic beacon 10. For this purpose a Split Difference Filter is used in the predefined filter algorithm, and the defined spatial relation of the inertial measurement unit 38 in relation to the position supply media is taken into account . The referenced attitude data is used to derive the position of measurement point 1.
[00179] The update kit 30 comprises fixing means 33 for attaching the update kit 30 to the body 13 of the topographic goal 10. Although the update kit 30 in Figure 5 is fixed to the body 13 in the intermediate section of the goal 10, obviously it is also possible to fix it close to the position supply means or close to the tip 12.
[00180] Figure 6 shows a measurement module 40 for a measurement system. The measurement system comprises a topographic beacon 10 with a body 13 that has a pointing tip 12 for contacting the measurement point 1. The measurement module 40 comprises a GNSS antenna 49 as means providing position to make coordinative determination available from a referenced position, where the GNSS antenna 49 must be placed on the body 13 of the topographic beacon 10 with a defined spatial relation to the tip 12. The measuring module 40 also comprises means of determining to repeatedly determine the referenced position of the position supply means and evaluation means 37 to derive the position of the measurement point 1 at least based on the determined referenced position and the defined spatial relationship of the position supply means in relation to the tip 12.
[00181] In addition, the measurement module 40 comprises an inertial measurement unit 48 that must be placed over the body 13 of the topographic beacon 10 with a defined spatial relation in relation to the position supply means, in which the inertial measurement unit 48 comprises IMU sensors that include accelerometers and gyroscopes, and IMU processing means to repeatedly determine inertial state data based on measurements made by the inertial measurement unit.
[00182] The evaluation means 47 are configured to receive the referenced position determined repeatedly and the inertial state data determined repeatedly, to feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and to derive from them. the attitude data referenced for the topographic beacon 10. For this purpose a Split Difference Filter is used in the predefined filter algorithm, and the defined spatial relationship of the inertial measurement unit 48 in relation to the position supplying means is taken into account. The referenced attitude data is used to derive a position from measurement point 1.
[00183] Alternatively, the evaluation means 47 and the inertial measurement unit 48 of the measuring module 40 can be integrated into the GNSS receiver 49. Alternatively, the measuring module 40 can be a two-part shape, for example, a the part comprising the position supply means and the other part comprising the inertial measurement unit 48.
[00184] The measuring module 40 comprises fixing means 43 for fixing the measuring module 40 to the body 13 of the topographic beacon 10. The fixing means 43 can also be adapted to screw the measuring module 40 on the top end of the beacon topographic 10.
[00185] Although the invention is illustrated above, partially with reference to some preferred modalities, it should be understood that various modifications and combinations of features different from the modalities can be made.

权利要求:
Claims (14)
[0001]
1. Measurement system to measure the position of a measurement point (1) on the ground, the measurement system comprises, • a topographic beacon (10) with a body (13) that has a pointing tip (12) for contact the measuring point (1) and ° position-providing means to make available the coordinative determination of a referenced position, the position-providing means being placed on the body (13) with a defined spatial relation to the tip ( 12), particularly where the position supply means comprise a retro-reflector (11) and / or a GNSS antenna (19), • determination means to repeatedly determine the referenced position of the position supply means and • assessment means (17 ) to derive the position of the measuring point (1) at least based on the determined referenced position and the defined spatial relationship of the position supplying means in relation to the tip (12), with the • topographic beacon (10) additionally comprising and an inertial measurement unit (18) placed on the body (13) with a defined spatial relation in relation to the position providing means, wherein the inertial measurement unit (18) comprises IMU sensors that include accelerometers and gyroscopes, and • the measurement system additionally comprises means of processing IMU to repeatedly determine inertial state data based on the measurements taken by the inertial measurement unit, the inertial state data includes an attitude state, and • the means of evaluation ( 17) are additionally configured to ° feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from them the attitude data referenced for the topographic goal (10), taking into account the defined spatial relation of the inertial measurement unit (18) in relation to the position supply media, ° additionally use the data of a titude referenced to derive the position of the measurement point (1), characterized by the fact that the evaluation means (47) are additionally configured to use a Split Difference Filter within a predefined filter algorithm, and the attitude state it is represented as a deviation from a nominal attitude in a representation of three parameters.
[0002]
2. Measurement system according to claim 1, characterized by the fact that the inertial measurement unit (18), • is designed in the form of a microelectromechanical system and comprises IMU sensors that include accelerometers and gyroscopes and / or • the inertial measurement unit (18) comprises inertial sensors of a tactical or inferior precision, in particular of an industrial grade or inferior precision.
[0003]
3. Measurement system according to either claim 1 or claim 2, characterized by the fact that • the inertial measurement unit (18) comprises at least three accelerometers in a mutually orthogonal configuration and at least three gyroscopes in one mutually orthogonal configuration, • the IMU processing means are configured to determine inertial attitude, inertial velocity data and inertial position data as part of the inertial state data, and / or • the evaluation means (17) are additionally configured to derive a referenced yaw angle as well as a referenced inclination angle and a referenced roll angle from the topographic beacon (1) as the referenced attitude data.
[0004]
4. Measurement system according to any of the preceding claims, characterized by the fact that • the inertial measurement unit (18) additionally comprises at least one magnetometer, particularly two or three magnetometers in a mutually orthogonal configuration, and in which • the IMU processing means are also configured to also determine compass-attitude data as part of the inertial state data.
[0005]
5. Measurement system according to any of the preceding claims, characterized by the fact that • the IMU processing means are configured to repeatedly determine the inertial state data at a rate equal to or greater than the means of determining the referenced position and • the evaluation means (17) are configured to feed the predefined filter algorithm with the inertial state data determined repeatedly at a rate equal to or greater than that with the referenced position determined repeatedly.
[0006]
6. Measurement system according to any one of the preceding claims, the position-providing means comprising a retro-reflector (11), characterized by the fact that the determining means comprise a total station or a tachometer to measure the referenced position of the retro reflector (11).
[0007]
7. Measurement system according to any one of the preceding claims, characterized by the fact that the positioning means comprise a GNSS antenna (19), the determining means comprise a GNSS processing unit for processing output signals GNSS antenna and derive from them the referenced position of the GNSS antenna.
[0008]
8. Update kit (30) for a measuring system to measure the position of a measuring point (1) on the ground, the update kit (30) being adapted to detect the attitude data, in which the system The measurement device comprises, • a topographic beacon (10) with, ° a body (13) that has a pointing tip (12) for contacting the measurement point (1) and ° position providing means to make coordinative determination of available a referenced position, the position supply means being placed on the body (13) with a defined spatial relation in relation to the tip (12), particularly where the position supply means comprise a retro reflector (11) and / or a GNSS antenna (19), • determination means to repeatedly determine the referenced position of the position providing means and • first assessment means (17) to derive the position of the measurement point (1) at least based on the determined referenced position and in the spatial relationship definition of the positioning means in relation to the tip (12), and the update kit (30) comprises, • an inertial measurement unit (38) to be placed on the body (13) with a defined spatial relation in relation to to positioning media, where the inertial measurement unit (38) comprises IMU sensors that include accelerometers and gyroscopes, and • IMU processing means to repeatedly determine inertial state data based on measurements taken by the unit inertial measurement data, the inertial state data includes an attitude state, • the update kit (30) additionally comprises second evaluation means (37) configured to ° receive the referenced position determined repeatedly and the status data repeatedly determined, ° feed a predefined filter algorithm with the referenced position repeatedly determined and the inertial state data determined repeatedly and derived from same the attitude data referenced for the topographic goal (10), taking into account the defined spatial relationship of the inertial measurement unit (38) in relation to the position supply means, and ° use the referenced attitude data to derive the position of the measuring point (1), characterized by the fact that the second evaluation means (47) are additionally configured to use a Split Difference Filter within a predefined filter algorithm, and the attitude state is represented as a deviation from a nominal attitude in a representation of three parameters.
[0009]
9. Update kit (30) according to claim 8, characterized in that • fixing means (33) for fixing the update kit (30) or parts thereof, particularly the inertial measurement unit (38 ), the topographic beacon (10), and / or • means to detect and / or define a spatial relationship of the inertial measurement unit (38) in relation to the position supplying means.
[0010]
10. Measurement module (40) for a measurement system to measure the position of a measurement point (1) on the ground, the measurement module (40) being adapted to detect altitude data, where • the system The measuring device comprises a topographic beacon (10) with a body (13) which has a pointing tip (12) for contacting the measuring point (1), and • The measuring module (40) comprises ° position providing means to make available the coordinative determination of a referenced position, in which the position-providing means must be placed on the body (13) with a defined spatial relation to the tip (12), particularly where the position-providing means comprise a retroreflector (41) and / or a GNSS antenna (49), ° determination means to repeatedly determine the referenced position of the position supplying means and ° evaluation means (47) to derive the position of the measurement point (1) from less based on the referenced position determined nothing and in the defined spatial relation of the positioning media in relation to the tip (12), the measuring module (40) additionally comprising • an inertial measuring unit (48) to be placed on the body (13) with a spatial relationship defined in relation to the positioning media, where the inertial measurement unit (48) comprises IMU sensors that include accelerometers and gyroscopes, and • IMU processing means to repeatedly determine inertial state data based on in measurements taken by the inertial measurement unit, the inertial state data includes an attitude state, the assessment means (47) being configured to • receive the referenced position determined repeatedly and the inertial state data determined repeatedly, • feed a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from them the data of a titude referenced for the topographic beacon (10), taking into account the defined spatial relationship of the inertial measurement unit (48) in relation to the position supply media, • use the referenced attitude data to derive the position of the measurement point (1), characterized by the fact that the evaluation means (47) are additionally configured to use a Split Difference Filter within a predefined filter algorithm, and the attitude state is represented as a deviation from a nominal attitude in a representation of three parameters.
[0011]
11. Measurement method to measure the position of a measurement point (1) on the ground, with the help of a topographic beacon (10) that has, • a body (13) that has a sharpener tip (12) to contact the measuring point (1) and • position-providing means to make available the coordinative determination of a referenced position, in which the position-providing means are placed on the body (13) with a defined spatial relation to the tip (12 ), particularly where the position supply means comprise a retro-reflector (11) and / or a GNSS antenna (19), the measurement method comprising, • repeatedly determining the referenced position of the position providing means and • derive the position of the measurement point (1) at least on the basis of the determined referenced position and the defined spatial relationship of the means providing position in relation to the tip (12), the topographic beacon (10) additionally comprising a measurement unit inertial placed on the body (13) with a defined spatial relation in relation to the position providing means, in which the inertial measurement unit comprises IMU sensors that include accelerometers and gyroscopes, and the measurement method additionally comprises, • repeatedly determining the inertial state data based on measurements taken by the inertial measurement unit (18), with the inertial state data including an attitude state, • feeding a predefined filter algorithm with the referenced position determined repeatedly and the inertial state data determined repeatedly and derive from them the attitude data referenced for the topographic goal (10), taking into account the defined spatial relationship of the inertial measurement unit in relation to the position supply means, and • additionally use the referenced attitude data to derive the position of the measuring point (1), characterized by the fact that a Split Difference Filter is used in the predefined filter algorithm, and the state of titude is represented as a deviation from a nominal attitude in a representation of three parameters.
[0012]
12. Measurement method according to claim 11, characterized by the fact that the inertial measurement unit (18), • is designed in the form of a microelectromechanical system and / or • comprises inertial sensors of a tactical degree or inferior accuracy, in particular of industrial grade or inferior precision.
[0013]
13. Measurement method according to either of claims 11 or 12, characterized by the fact that the referenced attitude data is represented by a referenced yaw angle, a referenced inclination angle and a referenced rolling angle of the topographic beacon (1).
[0014]
14. Measurement method according to any of claims 11 to 13, characterized in that the inertial position data and the inertial attitude data are determined as part of the inertial state data, particularly, also, inertial speed and IMU sensor error parameters, especially where IMU sensor error parameters are determined based on an error model for IMU sensors that include at least one of • sensor bias, • sensor errors sensitivity, • misalignment and • non-linearity errors, • as well as - in relation to gyroscopes - sensitivity to acceleration.

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US20150268045A1|2015-09-24|

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US9541392B2|2017-01-10|

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WO2014060429A1|2014-04-24|

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法律状态:
2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2020-03-31| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

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2020-11-10| B09A| Decision: intention to grant|

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2021-01-12| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 15/10/2013, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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EP12188965.3|2012-10-18|

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EP12188965.3A|EP2722647A1|2012-10-18|2012-10-18|Surveying System and Method|

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PCT/EP2013/071548|WO2014060429A1|2012-10-18|2013-10-15|Surveying system and method|

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