FR3078170B1 - METHOD OF POSITIONING A VEHICLE IN RELATION TO A STRUCTURE - Google Patents

METHOD OF POSITIONING A VEHICLE IN RELATION TO A STRUCTURE Download PDF

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Publication number
FR3078170B1
FR3078170B1 FR1851557A FR1851557A FR3078170B1 FR 3078170 B1 FR3078170 B1 FR 3078170B1 FR 1851557 A FR1851557 A FR 1851557A FR 1851557 A FR1851557 A FR 1851557A FR 3078170 B1 FR3078170 B1 FR 3078170B1
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France
Prior art keywords
vehicle
positioning
physical model
relation
physical
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Active
Application number
FR1851557A
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French (fr)
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FR3078170A1 (en
Inventor
Yuan Arthur Ni
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Flyinstinct
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Flyinstinct
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Publication date
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Priority to FR1851557A priority Critical patent/FR3078170B1/en
Publication of FR3078170A1 publication Critical patent/FR3078170A1/en
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Publication of FR3078170B1 publication Critical patent/FR3078170B1/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning

Abstract

La présente invention a pour objet un procédé de positionnement d'un véhicule (7, 22) par rapport à une structure (1, 20) destiné à réaliser une opération sur ladite structure (1, 20) comportant elle-même au moins un élément (2, 3, 4, 5, 6, 8, 21, 23) comportant ou émettant une caractéristique physique, le procédé comprenant : - Une étape d'obtention d'un premier modèle physique prédéterminé de ladite structure (1, 20) dans lequel la localisation dudit au moins élément (2, 3, 4, 5, 6, 8, 21, 23) est connue ; - Une étape d'acquisition d'un second modèle physique de ladite structure (1, 20) par au moins un capteur dudit véhicule (7, 22) pendant laquelle il est acquis la caractéristique physique dudit au moins élément (2, 3, 4, 5, 6, 8, 21, 23); - Une étape de mise en correspondance de la localisation dudit au moins élément (2, 3, 4, 5, 6, 8, 21, 23) dans le premier modèle physique et de sa caractéristique physique dans le second modèle physique afin de positionner le véhicule (7, 22) par rapport à ladite structure (1, 20).The present invention relates to a method for positioning a vehicle (7, 22) relative to a structure (1, 20) intended to perform an operation on said structure (1, 20) itself comprising at least one element. (2, 3, 4, 5, 6, 8, 21, 23) comprising or emitting a physical characteristic, the method comprising: - A step of obtaining a first predetermined physical model of said structure (1, 20) in wherein the location of said at least one element (2, 3, 4, 5, 6, 8, 21, 23) is known; - A step of acquiring a second physical model of said structure (1, 20) by at least one sensor of said vehicle (7, 22) during which the physical characteristic of said at least element (2, 3, 4) is acquired , 5, 6, 8, 21, 23); - A step of matching the location of said at least element (2, 3, 4, 5, 6, 8, 21, 23) in the first physical model and its physical characteristic in the second physical model in order to position the vehicle (7, 22) relative to said structure (1, 20).

FR1851557A 2018-02-22 2018-02-22 METHOD OF POSITIONING A VEHICLE IN RELATION TO A STRUCTURE Active FR3078170B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1851557A FR3078170B1 (en) 2018-02-22 2018-02-22 METHOD OF POSITIONING A VEHICLE IN RELATION TO A STRUCTURE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1851557A FR3078170B1 (en) 2018-02-22 2018-02-22 METHOD OF POSITIONING A VEHICLE IN RELATION TO A STRUCTURE
FR1851557 2018-02-22

Publications (2)

Publication Number Publication Date
FR3078170A1 FR3078170A1 (en) 2019-08-23
FR3078170B1 true FR3078170B1 (en) 2021-04-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1851557A Active FR3078170B1 (en) 2018-02-22 2018-02-22 METHOD OF POSITIONING A VEHICLE IN RELATION TO A STRUCTURE

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FR (1) FR3078170B1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8996311B1 (en) * 2013-12-06 2015-03-31 Novatel Inc. Navigation system with rapid GNSS and inertial initialization
WO2016065623A1 (en) * 2014-10-31 2016-05-06 SZ DJI Technology Co., Ltd. Systems and methods for surveillance with visual marker
US9738381B1 (en) * 2016-02-23 2017-08-22 General Electric Company Industrial machine acoustic inspection using unmanned aerial vehicle
US9592912B1 (en) * 2016-03-08 2017-03-14 Unmanned Innovation, Inc. Ground control point assignment and determination system

Also Published As

Publication number Publication date
FR3078170A1 (en) 2019-08-23

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