JPH09218038A - Method for positioning highly accurate survey control mark utilizing satellite - Google Patents

Abstract

PURPOSE: To identity a surveying place corresponding to a new mark represented by predetermined positional coordinates accurately by measuring the position of a predetermined mark for survey or construction work utilizing more than one signal receiver of satellite positioning system(SPS), e.g. GPS. CONSTITUTION: Utilizing SPS, e.g. GPS, having more than one SPS receiver/ processor, signals are received from more than three SPS signal satellites and analyzed. An SPS signal reference receiver/processor and an antenna are installed at a known fixed coordinate position. The SPS signal reference receiver/processor and antenna receive the positional coordinates of a reference receiver and determines the positional coordinates of a mobile receiver with respect to the reference receiver through the use of SPS differential positioning. The SPS signal reference receiver/processor and antenna are then shifted to a predetermined survey mark or survey place and the survey mark is positioned or a new survey place is identified based on the predetermined positional coordinates of mobile receiver/processor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to accurate positioning of existing marking positions on the surface or below the surface corresponding to a predetermined position in a database and formation of a new marking position, and more particularly to surveying and construction. It relates to the use of satellite communication for the purpose of positioning and forming position markers.

[0002]

BACKGROUND OF THE INVENTION Surveying and construction activities entail the measurement of distances and / or angles to position new signs or to locate signs that have already been set up. One known method for making such a measurement is to use a transit and a target, a theodolite, or an optical wave rangefinder (EDM). This method usually involves two operators,
For example, equipment that is awkward to use by operators operating transits and operators with targets must be used. If the measurements are made sequentially, then a single distance or angle measurement error is often rolled into subsequent measurements. Researchers in this field have developed transit and other approaches for surveying that do not rely on gauges, theodolites or EDM.

A geodetic system utilizing a digital phase meter is disclosed in Juff US Pat. No. 3,522,992. This device measures the distance between the transmitter and the receiver and their changes by combining, modulating and transmitting two laser beams of different frequencies and measuring the corresponding phase difference at the receiver. The modulated composite light beam is split by a dichroic mirror and the phase or intensity of each of the two frequency component (modulation) signals is analyzed to determine the initial or reference modulation waveform. The changes appearing in the optical distance between the transmitter and the receiver or in the index of refraction of the intervening transmission medium are measured by comparing the reference waveform with the waveform of the same received signal frequency. This device requires the transmission of more than one laser beam along the visual axis and is unlikely to be held or carried by a single operator.

US Pat. No. 4,225, Davidson et al.
No. 226 has begun using a rotating laser beam transmitter / receiver to guide an aircraft or the like flying in a specific pattern over a field or area for a special purpose, such as sowing. A rotating laser beam transmitter / receiver on board an aircraft emits light rays that are reflected by a series of reflectors on the ground located at locations known to each other. Based on the return signals reflected by the ground reflectors, the aircraft knows its current position and can fly in a pattern defined for these reflectors. It is believed that the pattern must be known and entered before the aircraft can begin its work. A similar approach is launched from an aircraft,
Dano US Pat. No. 4,398,1 which utilizes radar signals received and returned by three remotely located transponders surrounding the flight area of the aircraft.
No. 95. The aircraft is equipped with a radar trilateration receiver that receives and analyzes the returned radar signals.

A leading system for a ground work vehicle such as a tractor is disclosed in US Pat. No. 4,244,123 to Razzle et al.
Issue. By placing a signal transmitter, such as a rotating laser beam source, in the working field and placing two receivers on a vehicle at fixed locations longitudinally separated from each other, two horizontal changes as the vehicle travels can be achieved. Identify. Based on the phases of the received signals at the two receivers, the receivers measure and report the vehicle's current position and orientation. A similar approach in which a rotating laser beam defines a reference plane for a ground vehicle is disclosed in Goett U.S. Pat. No. 4,677,555. A reference point is set which is defined by several beacons fixed in the ground and indicates a pattern (direction, altitude) that the vehicle should follow. A microcomputer mounted on the vehicle monitors the pattern followed by the vehicle.

Halsar et al., US Pat. No. 4,309,7
No. 58 discloses an unmanned ground vehicle guided by three onboard omnidirectional optical sensors. At least two light sources that keep the distance from each other are provided at a distance from the vehicle
Each photosensor must receive light from two light sources. It seems that the azimuth and position of the vehicle can be obtained based on the signal phase difference of the light reaching the respective optical sensors from the common light source.

Stephens US Pat. No. 4,647,7
No. 84 discloses a guidance and control system for one or more ground vehicles. 2 rays emitted from the vehicle
It is reflected by more than one reflector, but each reflector has its own optical code (for example, stripes with different reflectivities) to reflect the light beam to the optical sensor installed in the vehicle. Oriented to return towards. The current heading of the vehicle is determined by analyzing the return rays that result from each ray. A method of automatically piloting a ground vehicle, such as a tractor, along a predetermined course in the field is disclosed in Dyke US Pat. No. 4,700,301. A rotating laser light source and a directional light sensor / processor are mounted on the vehicle, while two or more reflectors are installed at or near the boundaries of the field. The laser beam is reflected by the reflector and returns toward the vehicle, which is received by the sensor / processor to determine the current position and orientation of the vehicle. Alternatively, two laser light sources are installed near the boundary of the field, and the laser beam emitted from the light sources is received by the omnidirectional optical sensor mounted on the vehicle.

An example of utilizing a rotating laser beam for two-dimensional traveling of a ground vehicle in a specific area is disclosed in US Pat. No. 4,796,198 to Boltinghouse et al. Three or more reflectors, each with its own reflectance, are installed near the boundary of the area to reflect the laser beam toward the vehicle, and the photocell installed in the vehicle receives it, and the current position of the vehicle It produces a signal which also indicates the direction of arrival of the beam, which enables the measurement. Because of the peculiarities of the reflection depending on the individual reflectors, the angular position of the laser beam is indicated for each rotation.

Creg US Pat. No. 4,807,131
U.S. Pat. No. 5,968,961 discloses an automatic leveling system in which the position of the cutting edge is automatically controlled to level the area to be graded to the required shape. A laser beam is projected onto the area in a predetermined pattern, and the laser sensor mounted on the soil leveling machine receives this beam, and the cutting blade location and the blade angle and depth suitable for easing the gradient at that location. Is measured approximately. The required blade angle and depth are stored by a microprocessor mounted on the grader and the blade direction and height are corrected by comparing this with the actual blade angle and depth.

Olsen et al., US Pat. No. 4,814,71
No. 1 discloses a surveying instrument that collects and processes geodesic signals using a global positioning system GPS reference station and one or more data-trapping vehicles. Each vehicle is a geodetic machine, G
It is equipped with a PS signal receiver, a processor for calculating the current position, a visual display device for the current position, and a wireless communication device for transmitting position information to a reference station. The reference measurement point is calculated by periodically polling the current position of each vehicle with respect to a predetermined survey course that each vehicle should follow. The reference station keeps the vehicle on a given course by sending a command to each vehicle. Each vehicle also sends the calculated geodetic data to the reference station for correlation analysis and display at the reference station. This device must continuously track and control each vehicle, modify each vehicle's course based on the intended course, and is a non-portable device to obtain the required position and data. (Vehicle and its equipment) must be used. All measurement results are transmitted to a fixed reference station and analyzed by this reference station.
The accuracy of the measured values is considered to be within a few meters.

Counselman US Pat. No. 4,870,
No. 422 and No. 5,014,066 measure the length of the baseline vector between two survey markers on the surface of the earth using GPS signal antennas, receivers and processors located at each target. Discloses a method and a device for determining the position of a sign (within a few meters error).
Position data is determined based on GPS carrier phase measurements at each survey sign and sent to a reference station for analysis to calculate the baseline vector length between the two signs. This approach must make use of two separate survey markers and a reference station. Error of sign position is 1
5 or more GPs to reduce to less than a centimeter
In addition to using GPS signals from S satellites, the survey time interval must be Δt> 5000 seconds.

Paramitioti et al., US Pat. No. 4,87
No. 3,449 discloses a method and apparatus for three-dimensional surveying utilizing triangulation and a laser beam propagating along the periphery of the triangle. It is possible to determine the position of the field-of-view component by arranging the rotary mirror, the field-of-field component, and the light-sensitive camera at the three vertices of the triangle, and knowing the azimuth angle of the rotary mirror and the camera. In this case, three measurement points separated from each other including one measurement point arranged in the field to be measured and visual bearing light are required.

A method and apparatus for mapping a portion of the seabed is disclosed in Gehle, US Pat. No. 4,924,448. Two ships, each equipped with the same GPS signal antenna, receiver and processor, travel a fixed distance along the sea surface along two parallel routes. Each ship radiometrically surveys a limited area of the ocean floor beneath it and receives sound waves emitted from the other ship and reflected in the same area. Calibration is performed by determining the water depth of the region directly under each of the two sound wave waveforms and the positions of the two ships determined based on GPS, and comparing them.

Evans et al., US Pat. No. 4,954,83
No. 3 discloses a method of measuring the position of a predetermined fixed target or place using a combination of GPS signals and local gravity directions. A GPS signal is used to measure the ground surface orientation, and a fixed coordinate system other than the local coordinate system and a local gravity vector are used to associate this position with the astronomical orientation. GPS signal antennas, receivers and processors are provided at each of the target and reference points to measure the local surface orientation.

A method for verifying a waste treatment plant using GPS is disclosed in Reaser US Pat. No. 4,973,970. The location of the core sampling location is measured using a plurality of GPS mobile receivers, each with a GPS reference station set in the treatment plant, each of which is combined with a pollution level monitor.
Create and remove experimental cores in waste and inspect for contamination levels. The location of the core sampling location obtained based on GPS is transmitted to a reference station for recording contamination levels and analysis of hazardous substances.

Evans, US Pat. No. 5,030,957
Discloses a method for simultaneously measuring orthometric height and geometric height of a place on the surface of the earth. Two or more level culms are held at fixed positions separated from each other by a known baseline vector. Each stake has a GPS signal antenna, a receiver and a processor to calculate the GPS position of each stake. The geometric height of the GPS antenna (or the intersection of the culm and the surface of the earth) is determined for each culm and the standard GPS measurement (within a few meters error) is used to determine the geometric height difference. The GPS measurement position for each culm and the ellipsoid or geoid that approximates the local surface shape are used to determine the orthometric height difference for each GPS antenna.

A surveying instrument that utilizes GPS measurements to locate a location on the ground that is not necessarily in the visual axis of the satellite is disclosed in Ingensand US Pat. No. 5,077,557. This device utilizes a GPS signal antenna, receiver and processor located at the surveyor's location in combination with known lightwave or ultrasonic rangefinders and local magnetic field vector sensors. The distance to the designated sign is measured using a rangefinder, but the sign is equipped with a signal reflector, and the signal from the rangefinder is reflected by this reflector and sent back to the rangefinder. . The magnetic field vector sensor is believed to be used to help determine the position of the surveyor and to measure the tilt angle from the surveyor position to a given sign.

Sazy's US Pat. No. 5,099,245
Issue discloses a satellite-based position location system for aircraft utilizing the Geostar satellite system. Three or more ground reference stations installed at known locations receive timing signals transmitted by the satellite. The reference station retransmits this signal to the aircraft after a certain delay with the identification tag. The aircraft uses the time of arrival of the retransmitted signal to determine the current position of the aircraft by triangulation.

A spatial positioning system utilizing three or more (preferably four) fixed reference stations and a portable signal sensor is described in Lundberg US Pat. No. 5,100,229.
Issue. Each reference station includes a rotating laser light source and a radio or lightwave strobe transmitter that is triggered each time a corresponding rotating laser beam passes a predetermined angular position during irradiation. The portable signal sensor is located at any location remote from each strobe transmitter. When the sensor receives a laser beam or a strobe pulse from each reference measurement point, the light reception time is input to a computer connected to the sensor, and the computer measures the sensor position by triangulation.

Dorn Bush et al., US Pat.
No. 0,202 tertiary positioning using three or more fixed reference stations each with a rotating laser beam, and one or more portable mobile stations each with a laser beam sensor, a computer and a visible display. And the use of a measurement system. Each revolution of each laser beam about a vertical axis produces an electrical pulse in the sensor, which is time stamped by the computer. The position of the portable station can be determined by knowing when the laser pulse appears as the lasers at the reference station rotate simultaneously. An embodiment is also disclosed in which two fixed reference stations are each provided with two laser beams rotating in opposite directions.

A positioning system utilizing two geostationary satellites and one fixed reference station is disclosed in Toriyama US Pat. No. 5,11.
No. 1,209. The positioned mobile vehicle transmits an initial signal to the reference station via one of the two satellites, and the reference station transmits a return signal to the mobile vehicle via each of the two satellites. The position of the vehicle is then determined by triangulation. It is not explicitly described how position ambiguities can be eliminated using only two satellites.

US Pat. No. 5,144,3 to Dudek et al.
No. 17 uses fixed GPS reference points and four or more GPS satellites to work in open pit mines, such as measuring the position and spatial orientation of certain mining equipment such as bucket wheels of mobile excavators. A method of monitoring is disclosed. A second GPS receiver is located on a part of the device to help measure the device orientation and movement.

Three or more GPSs not located on the same straight line
A geodetic system utilizing a moving ground vehicle equipped with a reference station and a fourth GPS receiver is disclosed in US Pat. No. 5,155,490 to Spraddley et al. The position of each GPS reference station must first be measured over a long period of time (10-12 hours). In addition, the ground vehicle is equipped with a GPS receiver and receives GPS signals from four or more GPS satellites and each reference measurement point. The vehicle position data obtained from these signals is further processed to determine the vehicle position at some point in the past.

[0024]

The approaches described above rely on measurements using one or more laser beams or similar means, use cumbersome equipment, and rely on visual axis measurements for more than one person. Or more operators, and cannot achieve the accuracy required for many surveying and construction activities. Therefore, what is needed is (1) to be able to use a device that is hand-held at the sign position, (2) to enable real-time positioning of new signs that could only be identified in the database, and (3) for implementation. No need for two or more operators, (4) No need for visual axis measurement between two surveying instrument parts, (5) Positioning and setting of signs
Distance measurement and angle measurement can be performed with an error of several centimeters and 1 ° or less, respectively.

[0025]

The present invention is a satellite positioning system (SP), such as the Global Positioning System (GPS) or the Global Satellite Navigation System (GLONASS).
By using two or more signal receivers of S), it is a method that satisfies the above requirements with a minimum of hardware (reception and processing circuits). Allison, US Pat. No. 5,148,17, the contents of which are also incorporated herein by reference.
SP called differential positioning as disclosed in No. 9
By using the S positioning method, the distances to a plurality of surveying or construction markers located on or near the surface of the ground that requires measurement are measured and positioned.

In this method, first, the SPS signal reference antenna and receiver and the wireless transmitter are arranged at positions where the coordinates are known with sufficient accuracy. The reference receiver may be a fixed receiver, or may be a movable receiver whose position coordinates according to time t are known. Then, by using real-time SPS differential positioning with respect to the reference receiver position to guide the SPS signal mobile receiver to a predetermined position, the SPS signal mobile receiver is moved to a predetermined position or positions away from the reference receiver. . The predetermined position is maintained by a computer located elsewhere. It may be filled in and stored in a database included in the mobile receiver as a subset of a relatively large database. It is conceivable that a physical position corresponding to each predetermined position entered in the database exists on or near the ground surface. In this case, the invention allows the position of these physical signs to be accurately located, even if the signs are obscured or buried. It is not necessary to maintain the visual axis from the reference receiver to the mobile receiver. Even if there is no corresponding physical sign, the sign position can be defined by a database such as a new road or building blueprint.

In this case, the invention makes it possible to establish a position on or near the surface of the earth according to the given position coordinates and to form a new position marker. This physical location sign may be formed by a wooden or metal pile, a temporary chalk mark, or a brass monument embedded in concrete.

The satellite positioning system (SPS) is a satellite signal transmission system which is arranged on the surface of the earth or near the surface of the earth and transmits information which enables the measurement of the observer's current position and / or observation time. Both are SP
The two types of active systems that can be called S are the Global Positioning System (Global Positioning System) and the Global Navigation System (Global Orbiting Navigational System).

The Global Positioning System (GPS) is part of a satellite based navigation system developed by the US Department of Defense under its Nabster satellite program. A complete GPS has a maximum of 24 satellites, tilted at an angle of 55 ° with respect to the equator and distributed almost evenly in four circular orbits separated by a longitude equivalent to a multiple of 60 °. Including. The orbit is almost circular with a radius of 26.560 kilometers. The orbit is a non-geostational orbit, and its orbit time interval is 0.5 star day (11.967 hours), that is, the satellite moves in a time relative to the earth below it. Theoretically, more than two GPS satellites can be seen from most points on the surface of the earth by utilizing visual access to more than two satellites 24 times a day.
Any observer position on the surface of the earth can be measured over time. Each satellite carries a cesium and rubidium atomic clock to provide timing information for signals transmitted from the satellite. The clock of each satellite is corrected inside the satellite.

Each GPS satellite transmits two π-spectral L-band carrier signals. That is, the frequency f1 = 157
L1 signal of 5.42MHz and frequency f2 = 1227.6MH
It is the L2 signal of z. These two frequencies are the fundamental frequency f
The scaling factors f1 = 150.0f0 and f2 = 1200f0 of 0 = 1.023 MHz. L1 signal from each satellite is 2
Binary digital phase modulation (BPSK) with two quadrature pseudo-random noise (PRN) codes, a C / A-code and a P-code. The L2 signal from each satellite is BPSK modulated by the P-code only. PRN
The nature of the code will be described later.

The motivation for using the two carrier signals L1 and L2 is to allow partial compensation of the ionospheric propagation delay (delay ∝f-2) of this signal, which varies approximately in the inverse square of the signal frequency f. is there. This phenomenon is referred to as McDolan's U.S. Pat. No. 4,4, the disclosure content of which is also incorporated herein by reference.
63,357.

By using the PRN code, multiple GPs can be used to measure the observer position and provide navigation information.
It becomes possible to utilize the S signal. The signals transmitted from a particular GPS satellite are selected by forming, matching or correlating the PRN code corresponding to that particular satellite. All PRN codes are known and are formed or stored in GPS satellite signal receivers carried by terrestrial observers. The first PRN code corresponding to each GPS satellite, also called accuracy code or P-code, is a relatively long fine grain code, and its clock or chip rate is 10f0 = 10.23 MHz. Each GP
The second PRN code corresponding to S satellite is also called clear / acquisition code or C / A-code, whose purpose is to facilitate quick satellite signal acquisition and handover to P-code, clock or chip rate. Is f0 =
It is a relatively short coarse code of 1.023MHz. Which G
Also for PS satellites, the length of the C / A-code is 1023 chips and is therefore repeated every millisecond. The total P-code length is 259 days, and each satellite transmits a specific part of the total P-code. The portion of the P-code used for a given GPS satellite is exactly one week (7000 days), and this code portion is repeated every week. An effective method of forming C / A-codes and P-codes is Rockwell on September 26, 1984.
International Corporation Satellite System Division Document published by Readyvision A "GPS Interface Control
Document ICD-GPS-200 ", the contents of which are also incorporated herein by reference.

The GPS satellite bit stream corrects the ionospheric signal propagation delays suitable for single frequency receivers as well as navigation information based on the ephemeris of the transmitting GPS satellites and the almanac of all GPS satellites, as well as satellite clock time and authenticity. GP
It includes a parameter that corrects the deviation from the S time. Navigation information is transmitted at a speed of 50 baud. GPS,
A useful description of how to obtain position information from satellite signals can be found in David Wells'"Guide to GPS Positioning" published by the Canadian GPS Associates in 1986.

The second Global Positioning Initiative is the Global Orbiting Navigation Satellite System (GLONASS), which was put into orbit by the former Soviet Union and is currently maintained by the Republic of Russia. GLON
The ASS also uses 24 satellites, which are distributed almost evenly in eight orbits in three orbital planes. Each orbital plane has a nominal inclination of 64.8 ° with respect to the equator, and the three orbital planes are 12
It is a multiple of 0 ° longitude. The GLONASS circular orbit has a relatively small radius of about 25.510 kilometers, and the satellite revolution period is 8/17 sidereal day (11.26 hours).

Therefore, the GLONASS satellite and the GPS satellite revolve around the earth 17 and 16 times in 8 hours, respectively. GLONASS system has frequency f1
= (1.602 + 9K / 16) GHz and f2 = (1.2
Two carrier signals L1 and L of 46 + 7K / 16) GHz
Use 2. However, K is the number of channels or satellites. These frequencies are in two bands, namely 1.59
7-1.617 GHz (L1) and 1.240-1.26
It is included in the range of 0 GHz (L2). The L1 code is modulated by the C / A-code (chip rate = 0.511 MHz) and the P-code (chip rate = 5.11 MHz). The GLONASS satellite also transmits navigation information at a speed of 50 baud. Since the channel frequencies can be discriminated from each other, the P-code is the same and the C / A-code is the same for each satellite.

Here, the satellite positioning system or SPS, in addition to the global positioning system and the global orbiting navigation system, provides information that enables the measurement of the position and the observation time of the observer, and satisfies the requirements of the present invention. Refers to all satellite systems.

Satellite positioning systems (SPS), such as the Global Positioning System (GPS) and Global Orbiting Navigation System (GLONASS), utilize coded radio signal transmissions with the above structure from multiple Earth-orbiting satellites. A single passive receiver receiving such a signal is able to determine the absolute position of the receiver in the earth-fixed reference coordinate system centered on the earth utilized by the SPS.
In order to accurately measure the relative position between the receivers or the measuring points, a configuration including two or more receivers may be adopted. This method, called differential positioning, is much more accurate than absolute positioning if the distance between the stations is much shorter than the distance from the station to the satellite, as is the case in the normal case. If differential positioning is used for surveying and construction, position coordinates and distance can be obtained with an error of several centimeters.

In the differential position measurement, most of the SPS errors that impair the accuracy of absolute positioning have the same magnitude at the measurement points physically close to each other. Therefore, the influence of this error on the accuracy of the differential positioning is reduced by the method of partially canceling the error.

In the surveying, it is often necessary to measure the relative position between the measuring points. Geodetic is (1) when all stations receiving satellite signals are stationary and called static surveying, and (2) when one or more stations are moving relative to other stations It is categorized as a case called a physical survey.
The latter is being adopted more often because there are many relative positions of stations that can be measured in a certain satellite observation time.

A single or plural measuring points are set as reference measuring points, and preferably fixed at known positions (or, rarely, moved at known coordinates depending on time). One or more other stations, called mobile receiver stations, may also be stationary or moved, the position of which is calculated relative to the current position of the reference station. The approximate absolute position of the reference station is required. If not previously measured, this position can be calculated using an absolute position measurement method that utilizes the measured value of the PRN code phase.

In such an application, the conventional method is to record the satellite measurement values in the measuring points and post-process the data to combine the data from both measuring points. This approach does not allow real time measurement of the position of the mobile receiver as the receiver user moves around. Due to these limitations, data post-processing systems are not available for accurate real-time positioning of existing physical landmarks on or immediately below the surface. Furthermore, systems that post-process data are unable to identify a given location by the coordinates contained in the drawing database and then form a new physical marker at the corresponding location on the surface of the earth. It is intended to rely on post-processing of data in applications utilizing conventional approaches to determine the location of existing physical markers. In such an approach, a physical label is first formed and then the location of this label is accurately measured. It is not possible to first set any label in the construction database (without the existing physical label) and then accurately form the corresponding physical label. The present invention does not have such a restriction, and makes it possible to identify the physical position of the sign in real time from the position coordinates of the sign included in the database.

Many of the specific survey operations to which the present invention can be applied require accurate positioning of existing physical position markers and the ability to form new physical markers from given positions contained in the database. . This includes position markings used on construction and construction sites, so-called enclosed pile driving. The location is often marked on the construction blueprint. The error of the position mark formed should be 1-3 cm. Traditional methods of forming physical location markers from a drawing database rely on optical machines such as theodolite and EDM (electronic ranging) devices.
As a new surveying instrument, there is a total station that combines theodolite and EDM instrument. The drawback of these schemes is that there must be a line of sight between the reference mark and the new position mark. If the line of sight is not clear, multiple measurements are required, which may cause errors to accumulate.

In the present invention, the L1 received at the exact known time given by the clock in the SPS receiver.
And / or measuring and using the carrier phase of the L2 signal achieves the highest accuracy in differential positioning, ie in locating the beacon. Some SPS data processing methods for surveying use only the carrier phase measurement value to calculate the differential position, and use only the PRN code phase measurement value to calculate an accurate time mark of the carrier phase measurement value. . However, there is also a method of using the PRN code phase measurement value together with the carrier phase measurement value in the calculation of the differential position.
This method is described in Allison, US Pat. No. 5,148,179. A similar method is described in US Pat. No. 4,811 to Hatch, the contents of which are also incorporated herein by reference.
No. 2,991. All of these methods can be applied to the present invention.

A problem arises when using only carrier phase measurements to calculate the differential position. This measurement is ambiguous. The measured value from each satellite is the fractional phase φ (0 ° <φ <
360 °) + additional integer number of N total phase cycles. This integer number or integer ambiguity cannot be measured directly by the SPS receiver.

By using a process called phase integer initialization, the phase integer ambiguity that was initially unknown is revealed. One approach is to install the receiver on a sign whose relative position is already known with sufficient accuracy. This relative position, also called the baseline, is (x, y,
z) defined by vector components. Another approach is to leave the receiver temporarily fixed to any sign, and use static surveying methods to resolve phase integers. Yet another approach is to exchange the antennas between the receivers installed on any signs that are in close proximity to each other without disturbing the signal reception during the antenna exchange. US Application No. 07 / 999,09 to Allison et al.
The approach disclosed in No. 9 rotates the mobile receiver antenna 180 ° about a fixed reference receiver antenna. Another approach disclosed in the same patent application utilizes an azimuth measuring device incorporated into a fixture with a reference and mobile receiver antenna.

The method described above depends in principle on the carrier phase in order to resolve the phase integer. In addition, a combination of the carrier phase measurement value and the PRN code phase measurement value is used to solve the integer. Such a method is described in Allison, US Pat. No. 5,148,179. These methods do not require the mobile and reference receivers to be stationary during the initialization process, which is an important advantage. Any of the initialization methods described above can be applied to the present invention.

Once the phase integer ambiguity is clarified, differential positioning can be performed with the highest precision available from the carrier phase measurements. However, if the signal clocks on the four satellites cannot be maintained, the initialization may have to be repeated.

The present invention develops dynamic surveying (which is used to measure the relative position of physical landmarks set on the surface of the earth, and thus has limited application) and allows mobile receivers to receive reference signals. A method is provided that allows the machine to be moved into position. The position may only be present in the mobile receiver's database, or the corresponding physical sign may already be present on the surface of the earth. If the physical marker does not yet exist, it can be easily formed by moving the mobile receiver to a predetermined position and using it to determine the position of the new physical marker required. According to the method of the present invention, since the satellite carrier phase data collected by both the reference receiver and the mobile receiver can be processed in real time, the mobile receiver calculates its position in real time with an error of several centimeters. However, this information can be used to accurately guide the user to a predetermined position. The mobile receiver is equipped with an electronic display device to facilitate guiding the user to a predetermined position.

Existing physical location signs may be temporarily obscured by prevailing weather conditions such as snow and storms, or unintentionally covering the signs with objects such as soil and rocks. It may be buried or buried. Therefore, even if it is not necessary to form a new sign, positioning of an existing sign may require an accuracy of about centimeter. Another object of the invention is to achieve such accuracy by processing the carrier phase measurements. Systems utilizing only pseudorange measurements, eg S (as defined by The RTCM Special Committee 104 of Radio Technical Commission for the Maritime Services)
Systems using the RTCM 104 difference standard for PS pseudorange correction do not provide sufficient accuracy. That is, the pseudorange measurements have a much higher noise level than the carrier phase measurements, limiting their application to surveying and construction activities.

The present invention provides a method that enables distance and angle measurements and position identification by predetermined coordinates, even when no line of sight or line of sight is obtained between the reference receiver and the mobile receiver. Therefore, this method can be used in situations where conventional optical survey equipment cannot be used. The method includes a suitable communication system operating between the reference receiver and the mobile receiver without the need for linear radio communication between the receivers. The device used is so light and portable that one operator can easily determine a predetermined position on the surface of the earth and / or range and angle in real time.

According to the present invention, a given position can be defined in any coordinate reference system, such as the reference coordinate system used by satellites. WGS as one column of satellite coordinate system
There are 84 geodetic coordinate systems. In addition, there is a local plane coordinate system and a geodetic coordinate system in which specific reference points are set.
In order to adapt to these various coordinate systems, the mobile receiver has a 3-
Alternatively, the 7-parameter coordinate transformation can be performed in real time.

[0052]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT FIG. 1 shows a preferred embodiment of the apparatus in which a reference receiver is utilized by utilizing radio signals received from multiple Earth-orbiting satellites and by utilizing a radio modem for inter-station communication. The position of one or more mobile receivers (i.e., mobile stations) with respect to can be accurately measured in real time and then the mobile receiver can be accurately moved to a predetermined location on the surface of the earth. The position already exists in the database of the mobile receiver before the start of the measurement, but it may be transmitted later from the reference receiver to the mobile receiver. Corresponding physical location markers may already be present on the ground surface or immediately below the ground surface, in which case the invention may be used to locate such markers. The physical label may not yet be present, in which case the required location of the label can be measured and a new physical label can be formed. These new signs may correspond to predetermined positions on the blueprints of roads and buildings, for example.

In its simplest form, the device of the invention is illustrated in FIG.
Only two SPS receivers 13 and 14 are used as shown in FIG. One receiver 14 is the reference receiver and is often fixed with respect to the earth. However, if the coordinates of the reference receiver 14 are a known function of time t, there is no restriction that the reference receiver 14 must be stationary. The other receiver 13, the mobile receiver, moves relative to the reference receiver. The apparatus of the present invention can be enhanced to include multiple references and mobile receivers.

Each of the receivers 13 and 14 has a plurality of S
L1 and / or L2 carrier signals can be received from PS satellites. At least 4 transmitting satellites 15, 1
7, 19 and 21 are required. Each of the receivers 13 and 14 is capable of making L1 and / or L2 carrier and L1 and / or L2 pseudorange measurements at precise time marks generated by the receiver.

In order to be able to measure the predetermined position, the position of the mobile receiver with respect to the reference receiver must first be calculated in real time and provided to the mobile receiver. This requires a suitable communication method, eg radio coupling, between the reference receiver and the mobile receiver. The reference receiver is (1) the position of the reference beacon, such as the reference receiver position; (2) the carrier phase measurement from the observed satellite;
(3) Distance measurement to observed satellites; (4) Information indicating signal loss of lock and cycle slips that requires elucidation of new phase integer ambiguity; and (5)
Status information regarding the reference receiver must be sent, eg data including battery charge status. Since the satellite position can be reconstructed in the mobile receiver using the ephemeris transmitted from the satellite, the reference receiver need not transmit the calculated satellite position. Intercommunication is optional (eg, to track the current location of the mobile receiver using location information transmitted by the mobile receiver and received at the reference receiver), but the mobile receiver may No need to reply to. Employing one-way communication simplifies the structure of the mobile receiver, and is a passive receiver that receives but does not transmit.

The bandwidth of the wireless coupling must be a value that can support the data rate of the reference receiver. TRIMTAL, a product of Trimple Navigation Limited, is an example of a wireless communication system that meets the requirements of the present invention.
There is a K 900 wireless modem system. Such a wireless modem transmits a wide spectrum signal using code division multiple access (CDMA) in combination with time division multiple access (TDMA) in a band around 900 MHz. TDMA enables signal separation between multiple wireless modems and wireless repeaters, as described below. This wireless modem system does not require a license in the United States. Working outside the United States may require different wireless modems. The transmission frequency of the wireless modem is not important as long as sufficient bandwidth is available. Similarly, the type of modulation is not important. That is, other types of wireless modems that employ some type of modulation and transmission frequency can be used. It is also possible to utilize a separate satellite communication link instead of a wireless modem.

A single transmitter (at the reference receiver) and receiver (at the mobile receiver) requires direct wireless communication. However, the TRIMTALK 900 system can be configured to operate with multiple wireless repeaters. The repeater effectively receives and retransmits the signal from the reference receiver. When configured to operate as a repeater, the TRIMTALK 900 employs Time Division Multiple Access (TDMA) for signal separation. It is possible to install one or more repeaters at different elevations. Between the reference station and the first repeater, and the moving station and the second repeater
Wireless communication is performed between the repeaters. In some cases, the first and second repeaters may be the same repeater. By providing a number of intermediate repeaters between the first and second repeaters, direct radio communication between the reference receiver and the mobile receiver can be eliminated if desired. This is extremely advantageous under a variety of working conditions, for example at construction sites or where local terrain conditions or local weather conditions (eg snow or sandstorms) interfere with wireless communication. .

The measurements obtained at the reference receiver 14 are formatted using a data compression algorithm (optional),
Sent via a wireless modem connected to the reference receiver and received by another wireless modem connected to the mobile receiver 13. As already mentioned, optionally one or more signal repeaters 31 may be used to assist in the transmission of the reference receiver measurement data to the mobile receiver 13. No direct wireless contact between both receivers 13 and 14 is required. The measurement may be performed at an arbitrary time interval, for example, once a second. A compression algorithm that formats the data reduces the amount of data transmitted in each time interval. as a result,
The required transmission rate (baud) and thus the required transmission bandwidth is reduced.

The compression algorithm encodes satellite measurements with known scale values as fixed point binary numbers. This scale value is used in the mobile receiver 13 to decode the compressed data and is recognized by the decoding algorithm stored in the mobile receiver. The data can be further compressed by recognizing that the pseudorange measurement rate of change (meters / second) and the carrier phase measurement rate of change (meters / second × signal wavelength) are very similar. It is only the ionospheric delay effect that produces pseudorange group delay and carrier phase delay of equal magnitude but opposite sign that affects this rate of change difference. Since the rates of change of these basic satellite signal measurements are similar to each other, one measurement is coded as an offset from the other. The size of this offset value is small and changes according to the ionospheric delay rate, so the offset can be represented by a small data word size (bit).

Further compression can be achieved if the reference receiver 14 is configured so that it does not have to encode or transmit the calculated satellite position. That is, the mobile receiver reconstructs the satellite position using the ephemeris transmitted from the satellite. By taking advantage of satellite position and velocity, the signal phase reception time difference between the reference receiver and the mobile receiver is taken into account.

Although it is preferable to use a compression algorithm, it is possible to transmit data in its uncompressed format by increasing the data transmission rate and bandwidth. Data in uncompressed ASC_ format can be used.

The reference receiver 14 is connected to an SPS antenna 33 mounted on a reference sign whose position is known with sufficient accuracy. The height of this antenna from the reference beacon is recorded along with the reference receiver antenna position and added to the satellite measurement information transmitted by the reference station modem 27.

The mobile receiver 13 is a stadium 3 whose details are shown in FIG.
It is connected to the SPS antenna 35 mounted on a support such as 7. Using the culm 37, the position of a predetermined survey location or the like is measured. The culm 37 preferably comprises a bubble leveler or the like 39 for indicating the local vertical direction in order to build the culm correctly vertically. The culm 37 may be provided with a compass or other direction indicating means 41 for indicating the angular displacement from the magnetic north or the true north direction of the horizon passing through the intersection of the culm 37 and the ground surface. A small survey controller 45 is also attached to the mobile receiver 13. The small computer that meets the requirements of the present invention is the TDC (Trimble Data Controller) survey controller, a product of Trimble Navigation Limited. This computer, including the 8x20 character graphic display, is lightweight enough,
It is connected to the mobile receiver via a single cable. This cable supplies electric power and also functions as a data communication path. In addition, a pen input type computer, which has recently become popular as a small computer, can also be used. T
The DC contains a database of predetermined locations that the mobile receiver must reach. This database may be loaded prior to surveying or updated in real-time via the reference / mobile receiver TRIMTALK 900 radio link.

The controller 45 may incorporate a graphic display section 51 for guiding the user to a required surveying position. The ground height of the mobile receiver antenna 35 (that is, the culm 37
The height) is recorded and input to the controller 45. Utilizing the present invention, an operator can locate an existing beacon by positioning a new beacon position defined by predetermined position coordinates or by utilizing the difference position of the mobile receiver 13 with respect to the known position of the reference receiver 14. It can measure distance.

The mini survey controller 45 includes software with a drawing database such as a list of predetermined surveys or construction sites to identify. Physical markers corresponding to the surveying / construction site may or may not be present on the surface of the earth. The database can be updated based on additional information transmitted from the reference receiver 14 to the mobile receiver 13 via the wireless modem. The database can also be updated on site by the keyboard, pen, tablet or other data entry means 47 of the controller 45 as shown in FIG.

A given survey / construction site can be defined by any coordinate system. GPS satellite system is WG
The S 84 geodetic reference coordinate system is used. However, in many surveys different coordinate systems are used, such as the local plane coordinate system, the Transverse Mercator coordinate system, the Lambert conformal conic coordinate system, or the NAD 83 or NAD.
A geodetic reference coordinate system based on 27 standards is used. The predetermined location which is the movement target of the mobile receiver may be defined by any one of the above coordinate system and other coordinate systems. Therefore, the initial position of the mobile receiver may be calculated using the satellite-based WGS 84 reference coordinate system, but in order to move the mobile receiver to the position defined by any coordinate system, the TDC survey controller is used. A 3-parameter or 7-parameter coordinate transformation needs to be calculated in real time.

The reference and mobile receiver is a GPS or GLONA that enables the relative position of the mobile receiver or receivers and the reference receiver to be accurately measured in real time.
L1 and / or L from SPS signals such as SS signals
Receive and process two signals. Relative positions, also referred to as differential positions, baseline vectors or baselines, can be expressed as vector components in a fixed geocentric coordinate system or translated into other coordinate systems.

Utilize measurements of the L1 and / or L2 frequency carrier phase received by both the reference and mobile receivers. If both frequencies are used simultaneously, L1
And L2 carrier phase measurements can form a linear combination. In the differential positioning method, the measurement value of the L1 pseudorange or the L2 pseudorange is not directly necessary and can be used to assist the initialization (calculation of the integer ambiguity). It can also be used for relatively low-precision positioning that does not require (calculation). The positioning error after the initial setting is about 1 to 3 cm. If the initial setting is omitted, the positioning error increases to about 50 to 100 centimeters. Even if the positioning accuracy is relatively low, it is in time when positioning an existing physical position marker that is not blurred or covered.

Whether using only L1 carrier phase measurements, using only L2 carrier phase measurements, or using a linear combination of L1 and L2 carrier phases, these measurements M.D. at the 3rd International Technical Conference of the Satellite Division of the Navigation Society of Japan held in Colorado Spring, Colorado in September 1990. T. Allison, D.A. Farr, G.K. Renen and K.K. Martin announced ”
Agiodetic Survey Receiver with Up to 12 L1 C / A Code Channels,
AND 12 L2 SEW-P-CODE CHANNEL's, or a separate L2 P-code channel for each satellite signal received, or
Alternatively, a receiver having an independent L1 P-code channel for each satellite received can be used. As an example of such a receiver, a product model 4000 SS of Trimble Navigation Limited, Sunnyvale, Calif., Released in July 1992.
There is an E Geodetic Survey receiver.

The integer ambiguity can be obtained by various methods. For example, the reference and mobile receivers may be placed at known positions that have been measured in advance using static surveying. Another approach utilizes one of the three methods disclosed in Allison et al., US patent application Ser. No. 07 / 999,099. The antenna exchange method can also be used. Both of these methods require the reference and mobile receiver antennas to be physically close when determining the phase integer ambiguity. The method disclosed in Allison US Pat. No. 5,148,179 may also be utilized. The advantage of this method is that the moving and reference receivers do not need to be relatively stationary or physically close during the initialization process.

Once the phase integer ambiguity has been resolved, the phase measurements together with the phase integer form an unambiguous double difference measurement. This double difference measurement together with the satellite position calculation using the satellite's astronomical ephemeris and the absolute position of the reference receiver with sufficient accuracy form the information needed to calculate the difference position. Then, the differential position (baseline vector) between both receivers is calculated by using the least squares method or the Kalman filter method. An appropriate difference position calculation method with or without calculation of integer ambiguity (accuracy is reduced by that amount) is described in Allison's US Pat. No. 5,148,
No. 179.

Graphic or visible display section 51 (arbitrary, FIG. 3)
A small surveying controller 45 including is attached to the mobile receiver 13. The controller 45 provides a user interface, for example a keyboard or other data entry means 47, which allows the user to select a predetermined position, and includes the features described below to easily guide the user to a desired position. The controller 45 may be incorporated in the mobile receiver 13 or the mobile receiver may be incorporated in the controller. In either case, care must be taken to position the SPS antenna so that the line of sight to the satellite is not obstructed. A compact computer that meets the requirements of the present invention is the TDC (trimble data collector) survey controller.

The satellite measurements obtained by the reference receiver are transmitted to the mobile receiver via the TRIMTALK 900 radio modem. By processing this measurement with a similar measurement obtained by the mobile receiver in a computer integrated in the mobile receiver, the exact position of the mobile receiver with respect to the reference receiver can be determined. This calculation can also be done in the TDC survey controller,
Another computing device may be attached to the mobile receiver or TDC survey controller.

The mobile receiver 13 includes an SPS antenna 35 mounted on a suitable device such as, for example, a tripod, a bipod or a measuring rod 37. The calculated mobile receiver position is the position of the phase center of the SPS antenna 35. SPS antenna 35
If the height from the ground surface is known (for example, the height of the measuring rod), the position of the base of the measuring rod can be calculated by using this information, and the predetermined position can be determined using this.
Correctly install the measuring rod 37 using a level, such as the foam leveler 39 shown in FIG. 2, incorporated in the measuring rod 37. The height of the antenna is an input signal of the TDC survey controller 45, and the antenna position is converted into the position of the measuring rod base by the TDC or the mobile receiver.

By utilizing the TDC graphic display unit 51 shown in FIG. 3, the user is guided to a predetermined position where the target position is called below. A moving image of the user position (SPS antenna position of the mobile receiver) is obtained together with the user's movement target position indication. That is, an electronic map indicating the current position and the target position can be obtained. The distance from the user's current location to the destination location is displayed along with the required method between both locations. When the user starts moving, the direction (azimuth) of the ground course that the user follows is calculated, and the TDC display unit can instruct the user to correct the direction necessary to position the user on the course to the target position. .

High TDC to provide effective guidance
A display update rate is required, which requires a high relative position measurement rate in real time. 1 per second
It is sufficient to calculate the position once, but it is preferable to be faster. High speed is especially important when the user is close to the target position, and the final fine movement of the mobile receiver antenna is performed in order to accurately select the predetermined target position. By performing the calculation at high speed, the response speed between the measuring rod 37 and the corresponding moving display of the TDC graphic display unit 51 is increased. Specifically, the feedback loop is activated while adjusting the hand eye.

As shown in FIG. 3, the graphic display user interface 5 is provided on the controller 45 or the mobile receiver 13.
Providing 1 is the preferred induction method. However, you can also use a simple character interface. In this case, the distance and direction are instructed so that the user can set the correct course to the target position.

It is also possible to use an audible guidance system which provides an audible command for reaching the target position. In this case, the guidance information or commands may be coded as voices of various frequencies and / or lengths. The guidance information or instructions can include synthetic sounds.

Other devices may (optionally) be utilized to facilitate the task of ultimately positioning the mobile receiver antenna in place. When the TDC graphic display indicates that the antenna is extremely close to the predetermined place, the antenna is stopped. At this point, the TDC indicates the final distance offset and bearing from the measuring rod to the target position. Here, the scale rod 61 incorporating the magnetic compass 63 is arranged at the base of the measuring rod so as to be aligned with the direction of the target position from the current position of the measuring rod. Then, as shown in FIG. 4, the measuring rod may be moved along the scale bar by an amount corresponding to the indicated distance offset. This method eliminates the need to search the target position by aligning the base of the measuring rod with the target position by only changing the position of the measuring rod once. The accuracy of the azimuth information provided by the mobile receiver is determined by the accuracy of the calculated antenna position and the distance from the antenna position to the target position, and the azimuth accuracy decreases as this distance decreases. Therefore,
The distance offset before the final position update using the scale bar must be quite large, for example 1 meter.

The orientation measuring device may be incorporated into the measuring rod or the TDC (attached to the measuring rod). A suitable device is to electronically measure the direction from magnetic north and use this information in TD.
There is a Fluxgate compass that can be entered in C. The TDC can calculate and display the direction of the target position with respect to the current orientation of the stake (with the azimuth device incorporated) even when the stake and mobile receiver SPS antenna are stationary.

As a more useful method, when the mobile receiver senses that the mobile receiver antenna is located within a specified distance from a predetermined place, for example, within 10 meters, it is automatically or according to a user's command. The scale of the image displayed above may be enlarged so that a new distance scale is displayed on the interface.

[0082]

INDUSTRIAL APPLICABILITY The present invention develops dynamic surveying (used to measure the relative position of physical markers set on the surface of the earth, and thus has a limited range of applications), A method is provided that allows the reference receiver to be moved into position. The position may only be present in the mobile receiver's database, or the corresponding physical sign may already be present on the surface of the earth. If the physical marker does not yet exist, it can be easily formed by moving the mobile receiver to a predetermined position and using it to determine the position of the new physical marker required. According to the method of the present invention, since the satellite carrier phase data collected by both the reference receiver and the mobile receiver can be processed in real time, the mobile receiver calculates its position in real time with an error of several centimeters. However, this information can be used to accurately guide the user to a predetermined position. The mobile receiver is equipped with an electronic display device to facilitate guiding the user to a predetermined position. The present invention provides a method that allows distance and angle measurements and position identification by predetermined coordinates, even if no line-of-sight or line-of-sight is obtained between the reference receiver and the mobile receiver. Therefore, this method can be used in situations where conventional optical survey equipment cannot be used. The method includes a suitable communication system operating between the reference receiver and the mobile receiver without the need for linear radio communication between the receivers. The device used is so light and portable that one operator can easily determine a predetermined position on the surface of the earth and / or range and angle in real time. According to the present invention, a given position can be defined in any coordinate reference system, such as the reference coordinate system used by satellites. One column of the satellite coordinate system is the WGS 84 geodetic coordinate system. In addition, there is a local plane coordinate system and a geodetic coordinate system in which specific reference points are set. To accommodate these various coordinate systems, mobile receivers can perform 3- or 7-parameter coordinate transformations in real time.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the operation of an apparatus used in the present invention utilizing an SPS signal receiver and satellite.

FIG. 2 is an explanatory diagram showing how to use the culm for a mobile receiver according to the embodiment of the present invention.

FIG. 3 is a simplified diagram of a graphic user interface or visual display that may optionally be provided in the SPS mobile receiver of the present invention.

FIG. 4 is an illustration showing the use of a stick or rod with culms and length scales to facilitate identification of a predetermined position according to the present invention.

[Explanation of symbols]

 13 Mobile Receiver 14 Reference Receiver 33 SPS Antenna 35 SPS Antenna 37 Measuring Rod 45 Controller

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Mark, Nicholas United States, 94086 California Sunnyvale North Mary Avenue 645, Trimble Navigation Limited (72) Inventor Jim, Soden United States, 94086 California Sunnyvale North Mary Avenue 645, Trimble In Navigation Limited

Claims (14)

[Claims] 1. A first satellite positioning system (SPS) signal antenna and receiver in a method for accurately positioning the physical position of one or more fixed survey locations represented by predetermined position coordinates on or near the ground surface. / Providing a processor, arranging the first SPS antenna at a position where the position coordinates are known, and providing a second SPS signal antenna and receiver / processor, and providing the second SPS signal receiver / processor with the position coordinates and fixing of the first SPS signal antenna The position of the second SPS antenna with respect to the first SPS antenna is provided in real time by providing a measuring rod that supplies the position coordinates of the survey location, has both ends and a predetermined length L, and is marked with a predetermined distance along its entire length. Differential positioning is performed and the second SP is placed at the position represented by the predetermined position coordinates.
By arranging the S antenna, the physical position of the fixed surveying place represented by the predetermined position coordinates is measured to determine the second SPS.
When the second SPS receiver / processor indicates that the antenna is within the range of distance d ≦ L from the fixed survey location, orient the measuring rod in a predetermined direction and fix it at a position approximately distance d from the end of the measuring rod. A method comprising the steps of positioning a survey location. 2. The method according to claim 1, further comprising the step of providing the rod with a direction indicator for orienting the rod in the predetermined direction. 3. The predetermined SPS satellite utilizing the data compression format from the first SPS receiver / processor to the second SPS receiver / processor, the step of providing the position coordinates of the first SPS antenna. 2. The step of transmitting the measured value.
The method described in. 4. M wireless repeaters m = 1, .. for forming a wireless transmission path from the first antenna to the second SPS antenna. . . , M (M ≦ 1) are arranged, between the first SPS antenna and the first wireless repeater, between each wireless repeater and the wireless repeater in the next order, and the wireless repeater in the final order. The method of claim 3, further comprising ensuring wireless communication with each of the second SPS antennas. 5. A method for accurately measuring the physical position of one or more fixed survey locations represented by predetermined position coordinates on or near the surface of the earth, comprising a first satellite positioning system (SPS) signal antenna and reception. Machine / processor is installed and the first S
A PS antenna is arranged and the position coordinates of the first SPS signal antenna and the position coordinates of a fixed location are supplied to the second SPS signal antenna and the receiver / processor, which has both ends and a predetermined length L, and has a predetermined length along its length. The position of the second SPS antenna with respect to the first SPS antenna is differentially located in real time, and the second SPS antenna is arranged at a position represented by a predetermined position coordinate by providing a measuring rod marked with the distance Measures the physical position of a fixed survey location represented by position coordinates and measures the second SP for the first SPS antenna
When it is determined that the second SPS receiver / processor that visually displays the position or position coordinate or distance and direction of the S antenna is within a predetermined distance from the required position, the scale of the visible display of the graphic display user interface is enlarged. A method comprising steps. 6. A method for accurately positioning the physical position of one or more fixed survey locations represented by predetermined position coordinates on or near the surface of the earth, comprising a first satellite positioning system (SPS) signal antenna and reception. Machine / processor is installed and the first S
A PS antenna is arranged, a second SPS signal antenna and a receiver / processor are provided, and the position coordinates of the first SPS signal antenna and the position coordinates of a fixed survey location are supplied to the second signal receiver / processor so that both ends and a predetermined length L A measuring rod having a predetermined distance is provided along its entire length, and the position of the second SPS antenna with respect to the first SPS antenna is differentially measured in real time, and the position of the second SPS antenna is displayed at a position represented by predetermined position coordinates. By arranging two SPS antennas, the physical position of the fixed surveying place represented by the predetermined position coordinates is measured, and the position or position coordinates of the second SPS antenna with respect to the first SPS antenna, or the distance and azimuth are measured by voice communication. A method comprising providing a voice prompting user interface for prompting. 7. A method for accurately positioning the physical position of one or more fixed survey locations represented by predetermined position coordinates on or near the surface of the earth, the first satellite positioning system (SPS) signal antenna and reception. Machine / processor is installed and the first S
The PS antenna is arranged to supply the position coordinates of the first SPS signal antenna and the position coordinates of the fixed survey location to the second SPS signal receiver / processor, which has both ends and a predetermined length L, and has a predetermined length toward its entire length. The position of the second SPS antenna with respect to the first SPS antenna is differentially measured in real time by providing a measuring rod with a distance marked, and the second SPS antenna is arranged at or near a new survey location represented by predetermined position coordinates. The second SPS antenna is within a distance d ≦ L from the new survey location represented by the predetermined method by measuring the physical position of the new survey location represented by the predetermined uni-seat method. The second SP
The S receiver / processor, when directed, comprises the step of orienting the rod in a predetermined direction and positioning the new survey location at a distance d approximately from the end of the rod. 8. The method according to claim 7, further comprising the step of providing the rod with a direction indicator for orienting the rod in the predetermined direction. 9. The step of providing the position coordinates of the first SPS antenna comprises utilizing a data compression format from the first SPS receiver / processor to the second SPS receiver / processor for the predetermined SPS satellite. 8. The step of transmitting a measured value, which is characterized in that
The method described in. 10. M wireless repeaters m = 1, .. for forming a wireless transmission path from the first SPS antenna to the second SPS antenna. . . , M (M ≧ 1) by arranging the first SPS antenna and the first wireless repeater, between each wireless repeater and the wireless repeater in the next order, and the wireless repeater in the final order. 10. The method of claim 9, further comprising ensuring wireless communication with each of the second SPS antennas. 11. The method also includes the step of providing a graphical display user interface for the second SPS receiver / processor that visually displays the position, or position coordinates or distance and orientation of the second SPS antenna with respect to the new survey location. The method according to claim 7, characterized in that 12. Enlarging the scale of the visible display of the graphical user interface when it is determined that the second SPS antenna is within a predetermined distance from the new survey location represented by the predetermined coordinates. The method of claim 11, further comprising: 13. The second SPS receiver / visually displaying the position or position coordinate, or distance and direction of the second SPS device or the like with respect to the first SPS antenna.
8. The method of claim 7, further including the step of providing a graphical display user interface for the processor. 14. The second SPS for indicating by voice communication the position, or position coordinate, or distance and direction of the second SPS antenna with respect to the new survey location.
8. The method of claim 7, further comprising the step of providing a voice prompting user interface for the receiver / processor.
The method described in.