FR3124606B1 - Method for determining a position of a construction machine or an agricultural machine, and method for piloting this machine - Google Patents

Method for determining a position of a construction machine or an agricultural machine, and method for piloting this machine Download PDF

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Publication number
FR3124606B1
FR3124606B1 FR2106137A FR2106137A FR3124606B1 FR 3124606 B1 FR3124606 B1 FR 3124606B1 FR 2106137 A FR2106137 A FR 2106137A FR 2106137 A FR2106137 A FR 2106137A FR 3124606 B1 FR3124606 B1 FR 3124606B1
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FR
France
Prior art keywords
machine
determining
piloting
construction
agricultural
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2106137A
Other languages
French (fr)
Other versions
FR3124606A1 (en
Inventor
Camille Hadjadji
Thibaut Rigolle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aximum SAS
Original Assignee
Aximum SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aximum SAS filed Critical Aximum SAS
Priority to FR2106137A priority Critical patent/FR3124606B1/en
Priority to PCT/EP2022/065607 priority patent/WO2022258719A1/en
Publication of FR3124606A1 publication Critical patent/FR3124606A1/en
Application granted granted Critical
Publication of FR3124606B1 publication Critical patent/FR3124606B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L’invention concerne un procédé de détermination d’une position d’un engin (10) de chantier ou agricole, comportant : - une étape de réception d’une position géolocalisée, - une étape de détermination d’un déplacement relatif de l’engin au moyen d’un capteur d’images ou de télédétection (23) équipant ledit engin, - une étape de calcul d’une position recalée de l’engin en fonction du déplacement relatif déterminé, - une étape d’acquisition d’un paramètre de précision relatif à la précision de la position géolocalisée et/ou de la position recalée, et - une étape d’estimation de la position de l’engin, sélectionnée parmi la position géolocalisée et la position recalée en fonction dudit paramètre de précision. Figure pour l’abrégé : Fig.1The invention relates to a method for determining a position of a construction or agricultural machine (10), comprising: - a step of receiving a geolocated position, - a step of determining a relative displacement of the machine by means of an image or remote sensing sensor (23) fitted to said machine, - a step of calculating a readjusted position of the machine according to the determined relative displacement, - a step of acquiring a precision parameter relating to the precision of the geolocated position and/or the recalibrated position, and - a step for estimating the position of the machine, selected from among the geolocated position and the recalibrated position according to said precision parameter. Figure for abstract: Fig.1

FR2106137A 2021-06-10 2021-06-10 Method for determining a position of a construction machine or an agricultural machine, and method for piloting this machine Active FR3124606B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2106137A FR3124606B1 (en) 2021-06-10 2021-06-10 Method for determining a position of a construction machine or an agricultural machine, and method for piloting this machine
PCT/EP2022/065607 WO2022258719A1 (en) 2021-06-10 2022-06-08 Method for determining a position of a piece of construction or agricultural machinery, and method for controlling this piece of machinery

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2106137 2021-06-10
FR2106137A FR3124606B1 (en) 2021-06-10 2021-06-10 Method for determining a position of a construction machine or an agricultural machine, and method for piloting this machine

Publications (2)

Publication Number Publication Date
FR3124606A1 FR3124606A1 (en) 2022-12-30
FR3124606B1 true FR3124606B1 (en) 2023-07-07

Family

ID=76601481

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2106137A Active FR3124606B1 (en) 2021-06-10 2021-06-10 Method for determining a position of a construction machine or an agricultural machine, and method for piloting this machine

Country Status (2)

Country Link
FR (1) FR3124606B1 (en)
WO (1) WO2022258719A1 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8624725B1 (en) * 2011-09-22 2014-01-07 Amazon Technologies, Inc. Enhanced guidance for electronic devices having multiple tracking modes
US10935660B2 (en) * 2015-10-30 2021-03-02 Komatsu Ltd. Control system of work machine, work machine, management system of work machine, and method of managing work machine
CA2941227C (en) * 2015-10-30 2018-09-25 Komatsu Ltd. Construction machine control system, construction machine, construction machine management system, and construction machine control method and program
US10527734B2 (en) * 2017-11-22 2020-01-07 DeepMap Inc. Accuracy of global navigation satellite system based positioning using high definition map based localization
CN109405824A (en) * 2018-09-05 2019-03-01 武汉契友科技股份有限公司 A kind of multi-source perceptual positioning system suitable for intelligent network connection automobile

Also Published As

Publication number Publication date
FR3124606A1 (en) 2022-12-30
WO2022258719A1 (en) 2022-12-15

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