JP2911363B2 - High-accuracy high-speed surveying method and device using satellite - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the accurate positioning of existing landmarks on or below the ground corresponding to predetermined locations in a database and to the formation of new landmarks, 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 measuring distances and / or angles to place new signs or to locate already set signs. One known method for making such a measurement is to use a transit and a datum, a theodolite, or an EDM. This method usually has two operators,
For example, equipment that is difficult to handle by the operator operating the transit and the operator having the gauge must be used. If the measurements are performed sequentially, one distance or angle measurement error is often sequentially incorporated into subsequent measurements. Researchers in the field have developed transit and surveying, theodolite or other approaches that do not rely on EDM for surveying.

A geodetic system utilizing a digital phase meter is disclosed in US Pat. No. 3,522,992 to Juff. This device measures the distance between the transmitter and the receiver and its change 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 an initial or reference modulation waveform is determined by analyzing the phase and intensity of each of the two frequency component (modulation) signals. The change that appears in the optical distance between the transceiver and the refractive index of the intervening transmission medium is measured by comparing the reference waveform to the next received waveform of the same signal frequency. This device requires the transmission of more than one laser beam along the line of sight and is not expected to be held or transported by a single operator.

[0004] US Patent No. 4,225 to Davidson et al.
No. 226 has begun using a rotating laser beam transmitter / receiver to guide an aircraft or the like flying over a field or area in a specific pattern for a special purpose such as sowing. A rotating laser beam transmitter / receiver mounted on an aircraft emits light rays that are reflected by a series of ground-based reflectors located at known locations relative to each other. Based on the return signals reflected by the ground reflectors, the aircraft knows its current location and can fly in a defined pattern for these reflectors. It is contemplated that the pattern must be known and entered before the aircraft can begin its work. A similar approach is fired from aircraft,
U.S. Pat. No. 4,398,1 to Dano, which utilizes radar signals received and returned by three remotely located transponders surrounding the flight area of an 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 Lazle et al.
Issue. By placing a signal transmitter, such as a rotating laser beam light source, in the working field and two receivers at fixed locations on the vehicle that are longitudinally separated from each other, two horizontal changes associated with the running of the vehicle are eliminated. Identify. Based on the phases of the received signals at the two receivers, the receiver measures and reports the current position and heading of the vehicle. A similar approach in which a rotating laser beam defines a reference plane for a ground work vehicle is disclosed in U.S. Pat. No. 4,677,555 to Goett. A reference point is set which is defined by several beacons fixed in the ground and indicates the pattern (azimuth, altitude) to be followed by the vehicle. A microcomputer mounted on the vehicle monitors the pattern followed by the vehicle.

US Pat. No. 4,309,7 to Halshal et al.
No. 58 discloses an unmanned ground vehicle guided by three onboard omni-directional light sensors. Providing at least two light sources at a distance from the vehicle, the light sources keeping distance from each other;
Each light sensor must be configured to receive light from two light sources. It appears that the azimuth and position of the vehicle are determined based on the signal phase differences of the light reaching the respective light sensors from a common light source.

No. 4,647,7 to Stephens
No. 84 discloses a guidance and control system for one or more ground vehicles. 2 rays emitted from the vehicle
Each reflector has its own optical code (e.g., stripes of different reflectivity) that reflects light to a light sensor mounted on the vehicle. It is oriented to return toward. The current heading of the vehicle is determined by analyzing the return rays resulting from each ray. A method for automatically piloting a ground vehicle such as a tractor along a predetermined course in a field is disclosed in U.S. Pat. No. 4,700,301 to Dyke. While the rotating laser light source and the directional light sensor / processor are mounted on the vehicle, two or more reflectors are installed at or near the boundaries of the field. The laser beam reflects off of the reflector and returns to the vehicle, which is received by a sensor / processor to determine the current position and orientation of the vehicle. Alternatively, two laser light sources are installed near the boundary of a field, and a laser beam emitted from these light sources is received by an omnidirectional optical sensor mounted on a vehicle.

An example of using 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 Voltinghouse and the like. Three or more reflectors, each having its own reflectivity, are installed near the boundary of the area to reflect the laser beam toward the vehicle, and the photocell mounted on the vehicle receives this and the current position of the vehicle A signal is also generated that also indicates the direction of arrival of the beam that enables the measurement. Since the reflection is peculiar to each reflector, the angular position of the laser beam is indicated every rotation.

Creg, US Pat. No. 4,807,131
Discloses an automatic leveling system in which the position of a cutting blade is automatically controlled in order to level a region to be alleviated to a required shape. A laser beam is projected on the area in a predetermined pattern, and the laser sensor mounted on the ground leveler receives this beam, and the location of the cutting blade and the angle and depth of the blade suitable for relaxing the gradient at that location Is approximately measured. The required angle and depth of the blade is stored by a microprocessor mounted on the terrain and the direction and height of the blade are corrected by comparing this with the actual angle and depth of the blade.

Olsen et al. In US Pat. No. 4,814,71.
No. 1 discloses a surveying device that collects and processes geodetic signals using a Global Positioning System (GPS) reference station and one or more data capture 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 measurement point. The reference station is calculated by periodically polling the current position of each vehicle for a given surveying course that each vehicle should follow. The reference station keeps the vehicle on a predetermined course by sending commands 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 the course of each vehicle based on the desired course, and be non-portable to obtain the required location and data. (Vehicles and their mounting equipment) must be used. All measurement results are transmitted to a fixed reference station and analyzed by this reference station.
The accuracy of the measurements is expected to be within a few meters.

Counselman, US Pat. No. 4,870,
Nos. 422 and 5,014,066 measure the length of a baseline vector between two landmarks on the ground using GPS signal antennas, receivers and processors located on each landmark. Discloses a method and apparatus for determining the position of a sign (within an error within a few meters).
Position data is determined based on the GPS carrier phase measurements at each survey sign and transmitted to a reference station for analysis to calculate the baseline vector length between the two signs. This approach must utilize two separate survey markers and reference stations. Sign position error is 1
5 or more GPs to reduce to less than a centimeter
The GPS signal from the S satellite must be used and the survey time interval must be Δt> 5000 seconds.

US Pat. No. 4,872 to Paramityti et al.
No. 3,449 discloses a method and apparatus for performing three-dimensional surveying using triangulation and a laser beam propagating along the periphery of the triangle. The position of the component to be measured can be determined by arranging the rotating mirror, the component of the field to be measured, and the optical camera at three vertices of a triangle, and knowing the azimuths of the rotating mirror and the camera. Here, three distant measuring points including one measuring point arranged in the field to be measured and visual bearing light are required.

A method and apparatus for mapping a portion of the ocean floor is disclosed in US Pat. No. 4,924,448 to Gale. 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 wirelessly surveys a limited area of the seabed directly below it, and receives sound waves transmitted from the other ship and reflected in the same area. Based on each of the two sound wave waveforms and the positions of the two ships determined based on the GPS, the water depth in a region directly below each of the ships is obtained, and calibration is performed by comparing them.

No. 4,954,83 to Evans et al.
No. 3 discloses a method of measuring the position of a predetermined fixed target or place using a combination of a GPS signal and a local direction of gravity. The surface direction is measured using a GPS signal, and this position is related to the astronomical direction using a fixed coordinate system different from the local coordinate system and a local gravity vector. A GPS signal antenna, receiver and processor are provided at each of the target and reference points to measure the local ground bearing.

A method for verifying a waste disposal site using GPS is disclosed in Lieser US Pat. No. 4,973,970. A GPS reference station is set up at the treatment plant and the location of the core sampling location is measured using a plurality of GPS mobile receivers, each combined with a contamination level monitor.
An experimental core is created and extracted from the waste and inspected for contamination levels. The location of the core collection site obtained based on GPS is transmitted to a reference station for recording contamination levels and analyzing hazardous substances.

Evans is disclosed in US Pat. No. 5,030,957.
Discloses a method for simultaneously measuring the orthomeric height and the geometric height of a ground surface location. Two or more leveling culms are held at fixed positions separated from each other by a known baseline vector. Each culm has a GPS signal antenna, a receiver and a processor that calculates the GPS position of each culm. The geometric height of the GPS antenna (or the intersection of the culm and the ground surface) is obtained for each culm, and the geometric height difference is obtained using a standard GPS measurement value (with an error within several meters). An orthometric height difference is obtained for each GPS antenna using a GPS measurement position for each culm and an ellipsoid or geoid approximating a local ground shape.

A surveying instrument that utilizes GPS measurements to determine a location on the ground that is not necessarily in the line of sight 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 light or ultrasonic ranging and local magnetic field vector sensors. The distance to a predetermined sign is measured using a range finder. The signal reflector is attached to the sign, and the signal from the range finder is reflected by this reflector and returned to the range finder again. . The magnetic field vector sensor is believed to be used to help determine the position of the surveyor and to measure the angle of inclination from the surveyor's position to a predetermined sign.

US Pat. No. 5,099,245 to Sage
Discloses an aircraft satellite based position locating system utilizing the Geostar satellite system. Three or more ground reference stations installed at known locations receive timing signals transmitted from satellites. 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 location system utilizing three or more (preferably four) fixed reference stations and a portable signal sensor is disclosed 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 through a predetermined angular position during the irradiation process. A portable signal sensor is located at an arbitrary position remote from each strobe transmitter. When the sensor receives a laser beam or strobe pulse from each reference measurement point, the light receiving time is input to a computer connected to the sensor, and the computer measures the sensor position by triangulation.

Dornbush et al. In US Pat.
No. 0,202, tertiary positioning using three or more fixed reference stations each having a rotating laser beam and one or more portable movable stations each having a laser beam sensor, a computer and a visual display. And the use of a measurement system. Each rotation of each laser beam about a substantially vertical axis generates an electrical pulse at the sensor that is time stamped by a computer. The position of the portable measurement point can be obtained by knowing the time when the laser pulse appears as the laser of the reference measurement point rotates simultaneously. An embodiment is also disclosed in which each of the two fixed reference stations is provided with two laser beams rotating in opposite directions.

A positioning system utilizing two geostationary satellites and one fixed reference station is disclosed in US Pat.
No. 1,209. The mobile vehicle to be located sends an initial signal to a reference station via one of the two satellites, which 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 the position ambiguity can be eliminated using only two satellites.

US Pat. No. 5,144,3 to Dudek et al.
No. 17 uses fixed GPS reference stations and four or more GPS satellites to determine the location and spatial orientation of a given mining device, such as a bucket wheel of a mobile excavator, for work in open pit mines. Discloses a method of monitoring A second GPS receiver is placed in a portion of the device to help measure the orientation and travel of the device.

Three or more GPSs not located on the same straight line
A side ground system utilizing a mobile ground vehicle with a reference side point and a fourth GPS receiver is disclosed in U.S. Pat. No. 5,155,490 to Spradley et al. According to this, the position of each GPS reference side point must first be measured over a long time (10 to 12 hours). The ground vehicle is equipped with a GPS receiver, and receives GPS signals from four or more GPS satellites and reference points. Further processing of the vehicle position data obtained from these signals determines the position of the vehicle at some point in the past. Also, Japanese Patent Application Laid-Open No. 5-280983 discloses a method of performing differential positioning of the position of the second SPS antenna with respect to the first SPS antenna, and Japanese Patent Application Laid-Open No. 3-25310 and Japanese Utility Model Application Laid-Open No. 1-91216 disclose a staff staff. I have. When these are combined, the GPS antenna provided at both the fixed observation point and the mobile observation point, the communication means provided between both observation points, and the staff are used effectively, and the mobile observation point with respect to the fixed observation point is used. Can be determined. However, the second GPS cannot know where the target position is with respect to the current position of the second GPS antenna,
Since the relative position between the staff and the second GPS antenna cannot be directly obtained, the measurement must be repeated by trial and error with the second GPS until the second GPS antenna approaches the target position. The target position cannot be obtained easily and reliably. International Publication WO93
No./12597 discloses means for formatting and compressing text data in a data transmission system, encoding transmission data in a compact format, and transmitting using a plurality of repeaters. . However, the data transmission method is a band division method, and the communication voice is voice in a cellular telephone, so it is difficult to utilize it in surveying. Japanese Patent Laying-Open No. 2-148410 discloses a means for enlarging a partial image of a moving object in an automatic tracking surveying apparatus. However, the reason why the image is enlarged is to always contribute to image processing with a constant size. When the second SPS reaches a predetermined vicinity of the target position, the scale is enlarged to improve the convenience and reading accuracy of the operator. It is difficult to contribute to the improvement.

[0024]

The approach described above relies on measurements using one or more laser beams or similar means, uses cumbersome equipment, relies on visual axis measurements, and requires more than one person. Operators cannot achieve the accuracy required for or on many surveying and construction activities. Thus, what is needed is (1) to allow the use of a hand held device at the sign location, (2) to enable real-time positioning of new signs that could only be identified in the database, and (3) to implement It does not require two or more operators, (4) does not require visual axis measurement between two surveying device parts, and (5) measures and sets a sign.
Distance measurement and angle measurement can be performed with an error of several centimeters and 1 ° or less, respectively. (6) This is an approach that enables the use of a single reference measurement point as a measurement reference.

[0025]

SUMMARY OF THE INVENTION The present invention relates to a satellite positioning system (SP) such as, for example, a global positioning system (GPS) or a global satellite navigation system (GLONASS).
This method satisfies the above-mentioned requirements with a minimum of hardware (receiving and processing circuits) by using two or more signal receivers in S). Allison U.S. 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 distance to a plurality of surveys or construction signs located on or near the ground surface requiring measurement is measured and positioned.

In this method, first, an antenna and a receiver based on the SPS signal and a radio 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. The SPS signal mobile receiver is then moved to a predetermined position or positions away from the reference receiver by guiding the SPS signal mobile receiver to a predetermined position using real-time SPS differential positioning with respect to the reference receiver position. . The predetermined location is maintained by a computer located at another location. What is necessary is just to fill in the database included in the mobile receiver as a subset of a relatively large database and place it. It is conceivable that a physical position corresponding to each predetermined position entered in the database exists at or near the ground surface. In this case, the invention makes it possible to accurately determine the position of these physical signs, even if the signs are obscured or buried. There is no need 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 blueprint for a new road or building.

[0027] In this case, the invention makes it possible to determine the position at or near the ground according to the given position coordinates and to form a new position marker. This physical location indicator may be formed by a wooden or metal stake, or a temporary chalk mark, or a brass monument embedded in concrete.

[0028] A satellite positioning system (SPS) is a satellite signal transmission system that is located at or near the surface of the earth and transmits information that allows measurement of the observer's current position and / or observation time. Both are SP
The two types of working systems that can be called S are the global positioning system (global positioning system) and the global navigation system (global orbiting navigation 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 perfect GPS would have a maximum of 24 satellites tilted at an angle of 55 ° to the equator and distributed almost evenly in four on six circular orbits separated by longitudes corresponding to multiples of 60 ° from each other. Including. The orbit is approximately circular with a radius of 26.560 kilometers. The orbit is a non-geostationary orbit with an orbital time interval of 0.5 stellar days (11.967 hours), that is, the satellite will move relative to the earth below it. Theoretically, at most points on the earth's surface, three or more GPS satellites are visible, and by using visual access to three or more satellites, 24
Over time, any observer position on the surface of the earth can be measured. Each satellite is equipped with a cesium and rubidium atomic clock to provide timing information for signals transmitted from the satellite. The clock for each satellite is modified inside the satellite.

Each GPS satellite transmits two π-spectrum L-band carrier signals. That is, the frequency f1 = 157
5.42 MHz L1 signal and frequency f2 = 1227.6 MHz
z is the L2 signal. These two frequencies are fundamental frequencies f
The integral multiples of 0 = 0.123 MHz are f1 = 150.0f0 and f2 = 1200f0. The L1 signal from each satellite is 2
Binary digital phase modulation (BPSK) with two quadrature pseudo-random noise (PRN) codes, ie, C / A-code and P-code. The L2 signal from each satellite is BPSK-modulated using only the P-code. PRN
The nature of the code will be described later.

The motivation for using the two carrier signals L1 and L2 is to enable partial compensation of the ionospheric propagation delay (delay Δf−2) of this signal, which varies approximately in the inverse square of the signal frequency f. is there. This phenomenon is illustrated by McDolan U.S. Pat. No. 4,4,464, the disclosure of which is also incorporated herein by reference.
63,357.

By using the PRN code, multiple GPs can be used to determine the observer position and provide navigational information.
It becomes possible to use the S signal. The signal transmitted from a particular GPS satellite is selected by forming a PRN code corresponding to that particular satellite and matching or correlating it. All PRN codes are known and are formed or stored in a GPS satellite signal receiver carried by a terrestrial observer. The first PRN code corresponding to each GPS satellite, also called the accuracy code or P-code, is a relatively long fine-grained code, whose clock or chip rate is 10f0 = 10.23 MHz. Each GP
The second PRN code corresponding to the 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 =
A relatively short coarse-grained code of 1.023 MHz. Which G
Also for the PS satellite, the length of the C / A-code is 1023 chips, so it is repeated every millisecond. The total P-code length is 259 days, and each satellite transmits a specific portion 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 repeats every week. An effective method of forming C / A-codes and P-codes is described in Rockwell on September 26, 1984.
Document "GPS Interface Controls" published by International Corporation Satellite System Division ReadyVision A
Document ICD-GPS-200 ", the contents of which are incorporated herein by reference.

The GPS satellite bit stream modifies the ionospheric signal propagation delay suitable for a single-frequency receiver, as well as satellite clock time and authenticity, in addition to the ephemeris of the transmitting GPS satellite and the almanacs of all GPS satellites. GP
Includes parameters to correct the deviation from S time. Navigation information is transmitted at a speed of 50 baud. GPS and
A useful description of how to obtain position information from satellite signals is found in David Wells's "Guide to GPS Positioning" published by Canadian GPS Associates in 1986.

The second global positioning initiative is the Global Orbiting Navigation Satellite System (GLONASS) orbited by the former Soviet Union and currently maintained by the Russian Federation. GLON
The ASS also uses 24 satellites, which are distributed approximately evenly on three orbital planes. Each orbital plane has a nominal 64.8 ° inclination to the equator and the three orbital planes are 12
They are separated by multiples of 0 ° longitude. The GLONASS circular orbit has a relatively small radius of about 25.510 kilometers and the orbit of the satellite is 8/17 stellar day (11.26 hours).

Accordingly, the GLONASS satellite and the GPS satellite will orbit the earth 17 and 16 times in 8 hours, respectively. GLONASS system has frequency f1
= (1.602 + 9K / 16) GHz and f2 = (1.2
46 + 7K / 16) GHz two carrier signals L1 and L
Use 2. Where K is the number of channels or satellites. These frequencies are in two bands: 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 a C / A-code (chip rate = 0.511 MHz) and a 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 distinguished from each other, the P-code and the C / A-code are 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 enabling measurement of the observer's position and observation time, and satisfies the requirements of the present invention. Refers to all satellite systems.

Satellite positioning systems (SPS), such as Global Positioning System (GPS) and Global Orbiting Navigation System (GLONASS), utilize coded radio signal transmissions having the above structure from a plurality of orbiting satellites. A single passive receiver that receives such a signal can determine the absolute position of the receiver in a reference frame fixed to the earth centered on the earth that is utilized by the SPS.
In order to accurately measure the relative position between the receivers or the measurement 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 stations is much shorter than the distance from the station to the satellite, as in the normal case. If differential positioning is used for surveying or construction, the 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 the absolute positioning have the same size at physically close measurement points. Thus, the effect of this error on the accuracy of the differential positioning is mitigated by a method that partially offsets the error.

For surveying, it is often necessary to measure the relative position between measuring points. Geodetic (1) all stations receiving satellite signals are stationary and called static surveying; (2) one or more stations are moving with respect to other stations; It is classified into a case called a standard survey.
Since there are many relative positions that can be measured at a fixed satellite observation time, the latter is increasingly adopted.

One or more measuring points are set as reference measuring points, preferably fixed at a known position (or, in rare cases, moved at known coordinates according to time). One or more other stations, called mobile receiver stations, may also be stationary or moved, and their positions are calculated relative to the current position of the reference station. The approximate absolute position of the reference measurement point is required. If not previously measured, this position can be calculated using an absolute position measurement method using the measured value of the PRN code phase.

In such an application, the conventional method is to record the satellite measurement values in the measurement points and post-process this data to combine the data from both measurement points. With this approach, the position of the mobile receiver cannot be measured in real time as the receiver user moves around. Because of these limitations, a post-processing system of data is not available to accurately and accurately locate, in real time, an existing physical known location marker on or just below the surface. Furthermore, a system for post-processing the data cannot specify a predetermined position by coordinates included in the drawing database, and then cannot form a new physical marker at a corresponding position on the ground surface. It relies on post-processing of data in applications utilizing conventional approaches and aims to determine the location of existing physical landmarks. In such an approach, a physical label is first formed and then the position of the label is accurately measured. It is not possible to first set arbitrary markers in the construction database (without existing physical markers) and then to form the corresponding physical markers exactly. 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 contained in the database.

Many of the specific surveying tasks to which the present invention can be applied require accurate positioning of existing physical location markers and the ability to form new physical markers from predetermined locations contained in a database. . This includes location markings used on construction and construction sites, so-called enclosed pilings. Predetermined locations are often noted on construction plans. The error of the position marker formed must be 1 to 3 cm. Traditional methods of creating physical location markers from a drawing database rely on optical machines such as theodolites and EDM (Electronic Distance Measuring) devices.
A new surveying device is a total station that combines theodolite and EDM. A drawback of these schemes is that they must be line of sight between the reference sign and the new position sign. If the line of sight is not clear, multiple measurements will be required, and errors may 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 utilizing the carrier phase of the L2 signal achieves the highest accuracy in differential positioning, ie, in determining the position of the beacon. Some SPS data processing methods for surveying use only the carrier phase measurement to calculate the differential position and use only the PRN code phase measurement to calculate the accurate time mark of the carrier phase measurement. . However, there is also a method of using the PRN code phase measurement together with the carrier phase measurement for calculating the differential position.
This method is described in Allison U.S. Pat. No. 5,148,179. A similar method is disclosed in Hatch, U.S. Pat. No. 4,811, the contents of which are incorporated herein by reference.
No. 2,991. All of these methods can be applied to the present invention.

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

The phase integer ambiguity, which was initially unknown, is revealed by utilizing a process called phase integer initialization. One approach is to place the receiver on a sign whose relative position is already known with sufficient accuracy. This relative position is also called the base line, and (x, y,
z) Defined by vector components. Another approach is to leave the receiver temporarily fixed at an arbitrary sign so that the static integer method can be used to resolve the phase integer. Yet another approach is to exchange antennas between receivers located at any sign in close proximity to each other, so as not to interfere with signal reception during antenna exchange. Allison et al., US application Ser. No. 07 / 999,09.
The approach disclosed in No. 9 rotates the mobile receiver antenna 180 ° about the fixed reference receiver antenna. Another approach disclosed in the same patent application utilizes a heading measurement device integrated into the fixture along with a reference and mobile receiver antenna.

The method described above in principle relies on the carrier phase to resolve the phase integer. In addition, a combination of the carrier phase measurement and the PRN code phase measurement is used to resolve the integer. Such a method is described in U.S. Pat. No. 5,148,179 to Allison. These methods do not require the mobile and reference receivers to remain stationary during the initialization process, which is a significant advantage. Any of the initial setting methods described above can be applied to the present invention.

Once the phase integer ambiguities have been determined, differential positioning can be performed with the highest accuracy obtained from the carrier phase measurements. However, if the signal clock cannot be maintained in the four satellites, initialization may have to be repeated.

The present invention develops dynamic surveying (used to determine the relative position of physical landmarks set on the ground, and thus has limited application) to provide a mobile receiver with a reference receiver. A method is provided that allows the machine to be moved to a predetermined position. The location may only be present in the mobile receiver's database, or the corresponding physical marker may already be present on the surface of the earth. If the physical marker is not already present, the physical marker can be easily formed by moving the mobile receiver to a predetermined position and using it to determine the position of the required new physical marker. According to the method of the present invention, since the satellite carrier phase data collected at both the reference receiver and the mobile receiver can be processed in real time, the mobile receiver can calculate 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. Mobile receivers are equipped with an electronic display to facilitate user navigation to a predetermined location.

Existing physical location markers can sometimes be temporarily blurred due to prevailing weather conditions, such as snow or sand storms, or due to unintended covering of the marker by objects such as soil or rocks. And may be buried. Therefore, even when it is not necessary to form a new sign, the positioning of the existing sign may require an accuracy on the order of centimeters. Another object of the invention is to achieve such accuracy by processing carrier phase measurements. Systems that use only pseudorange measurements, such as S (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, pseudorange measurements have much higher noise levels than carrier phase measurements, which limits their application to surveying and construction activities.

The present invention provides a method for measuring distance and angle and identifying a position by predetermined coordinates, even if no line of sight or visual axis is obtained between the reference receiver and the mobile receiver. Therefore, this method is effectively used in a situation where the conventional optical surveying device cannot be used. The method includes a suitable communication system that operates without the need for linear wireless communication between the reference receiver and the mobile receiver. The equipment used is lightweight and portable such that one operator can easily determine a predetermined location on the ground surface and / or easily determine the distance and side angles in real time. Further, since the position coordinates of the first and second SPSs are used to obtain the target position, the second SPS uses the second SPS.
It is possible to know where the target position is with respect to the current position of the PS antenna. Therefore, in the second SPS, since the direction and distance of the target position with respect to the current position are detected as needed, the target position can be easily and reliably obtained with a small number of measurements. Since one measurement usually takes about 10 minutes,
Reducing the number of measurements also has the advantage of reducing work time.

According to the present invention, a predetermined position can be defined by an arbitrary coordinate reference system such as a reference coordinate system used by a satellite. WGS as one column of the satellite coordinate system
There are 84 geodetic coordinate systems. Other examples include a local plane coordinate system and a geodetic coordinate system in which specific reference points are set.
To adapt to these various coordinate systems, the mobile receiver is
Alternatively, the 7-parameter coordinate transformation can be performed in real time.

[0052]

FIG. 1 shows a preferred embodiment of the apparatus, in which a reference receiver is used by utilizing radio signals received from a plurality of orbiting satellites and by utilizing a radio modem for point-to-point communication. , The position of one or more mobile receivers (i.e., mobile stations) 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 is already in the mobile receiver's database before the start of the measurement, but may be transmitted from the reference receiver to the mobile receiver at a later time. A corresponding physical location indicator may already be present on or directly below the surface, in which case the invention can be used to locate such an indicator. 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, for example, predetermined positions on a blueprint of a road or a building.

In the simplest form, the device according to the invention is the one according to FIG.
, Only two SPS receivers 13 and 14 are used. One receiver 14 is a reference receiver, which is often fixed relative to the earth. However, if the coordinates of the reference receiver 14 are a known function at the 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 device of the present invention can be adapted to include multiple reference 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 four transmitting satellites 15, 1
7, 19 and 21 are required. Each of the receivers 13 and 14 can make measurements of L1 and / or L2 carriers and L1 and / or L2 pseudoranges at accurate time marks originating from the receiver.

In order to measure a 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 between the reference receiver and the mobile receiver, for example a radio connection. The reference receiver is: (1) the position of the reference marker, eg, the reference receiver position; (2) the carrier phase measurement from the observed satellite;
(3) distance measurements to the observed satellite; (4) information indicating signal loss of lock and cycle slips that require elucidation of new phase integer ambiguities; and (5)
Status information about the reference receiver, for example, data including the battery charge status, must be transmitted. Since the position of the satellite can be reconstructed in the mobile receiver using the ephemeris transmitted from the satellite, the reference receiver does not need to transmit the calculated satellite position. The intercommunication is optional (e.g., 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 is No need to reply to Employing one-way communication simplifies the configuration of the mobile receiver and results in a passive receiver that receives but does not transmit.

The bandwidth of the wireless coupling must be a value that can correspond to the data rate of the reference receiver. One example of a wireless communication system that meets the requirements of the present invention is TRIMTAL, a product of Trimple Navigation Limited.
There is a K900 wireless modem system. Such wireless modems transmit wide spectrum signals using code division multiple access (CDMA) in combination with time division multiple access (TDMA) in a band around 900 MHz. TDMA allows signal separation between multiple wireless modems and wireless repeaters, as described below. The wireless modem system does not require a license in the United States. Working outside the United States may require a different wireless modem. The transmission frequency of the wireless modem is not important if sufficient bandwidth is available. Similarly, the type of modulation is not important. That is, other types of wireless modems employing different modulation formats and transmission frequencies can be used. It is also possible to use a separate satellite communication link instead of a wireless modem.

A single transmitter (at the reference receiver) and a receiver (at the mobile receiver) require direct radio 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 with a repeater, TRIMTALK 900 employs time division multiple access (TDMA) for signal separation. One or more repeaters can be installed at different elevations. Between the reference station and the first repeater and between the moving station and the second
Wireless communication is performed between the repeaters. In some cases, the first and second repeaters may be the same repeater. By providing multiple intermediate repeaters between the first and second repeaters as needed, direct wireless communication between the reference receiver and the mobile receiver can be eliminated. This is highly advantageous under a variety of operating conditions, for example, on construction sites or where local terrain or local weather conditions (e.g. snow or sand storms) interfere with wireless communication. .

The measurements obtained at the reference receiver 14 are formatted using a data compression algorithm (optional)
It is transmitted via a wireless modem connected to the reference receiver and received by another wireless modem connected to the mobile receiver 13. As already mentioned, one or more signal repeaters 31 may optionally be used to assist in transmitting reference receiver measurement data to the mobile receiver 13. No direct wireless contact between the two receivers 13 and 14 is required. The measurement may be performed at an arbitrary time interval, for example, once every second. A compression algorithm for formatting 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 as a fixed point binary number at a known scale value. This scale value is used to decode the compressed data in the mobile receiver 13 and is recognized by a decoding algorithm stored in the mobile receiver. The data can be further compressed by recognizing that the pseudorange measured rate of change (meters / second) and the carrier phase measured rate of change (meters / second x signal wavelength) are very similar. Only the ionospheric delay effect, which causes pseudorange group delay and carrier phase delay of the same magnitude but opposite sign, affects this rate of change difference. Since the rates of change of these basic satellite signal measurements are similar to one another, 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, and thus the offset can be represented by a small data word size (bits).

If the reference receiver 14 does not need to code or transmit the calculated satellite position, the compression can be further advanced. That is, the mobile receiver reconstructs the satellite position using the ephemeris transmitted from the satellite. By utilizing the 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 also possible to transmit data in an uncompressed format by increasing the data transmission speed and bandwidth. ASC_format data that is not compressed can be used.

The reference receiver 14 is connected with an SPS antenna 33 installed on a reference sign whose position is known with sufficient accuracy. The height of this antenna from the reference mark 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 culm 3 shown in detail in FIG.
7 is connected to an SPS antenna 35 mounted on a support. A predetermined surveying place or the like is measured using the culm 37. It is preferable that the culm 37 is provided with a foam leveler 39 for indicating a local vertical direction in order to correctly and vertically build the culm. A compass or other direction indicating means 41 for indicating the angular displacement from magnetic north or the true north direction of the horizontal line passing through the intersection of the culm 37 and the ground may be incorporated in the culm 37. A small surveying controller 45 is also attached to the mobile receiver 13. A small computer that meets the requirements of the present invention is Trimble Navigation Limited's product TDC (Trimble Data Controller) survey controller. This computer includes an 8x20 character graphic display, is lightweight enough,
Connected to the mobile receiver via a single cable. This cable supplies power and also functions as a data communication path. In addition, a pen-input computer, which has recently become popular, can be used as a small computer. T
The DC contains a database of predetermined locations that the mobile receiver must reach. This database may be loaded prior to surveying or may be updated in real time via the reference / mobile receiver TRIMTALK 900 radio link.

The controller 45 may incorporate a graphic display unit 51 for guiding a user to a required surveying position. The ground height of the mobile receiver antenna 35 (that is, the culm 37
Is recorded and input to the controller 45. Utilizing the present invention, an operator may either locate a new sign defined by predetermined position coordinates, or may use an existing sign by using the difference position of the mobile receiver 13 with respect to the known position of the reference receiver 14. Distance can be measured.

The mini survey controller 45 includes software having a drawing database, such as a list of predetermined survey or construction sites to be identified. The physical sign corresponding to the survey / construction site may or may not be present on the surface. 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 a keyboard, pen, tablet or other data input means 47 of the controller 45 as shown in FIG.

The predetermined surveying / construction site can be defined by an arbitrary coordinate system. The GPS satellite system is WG
The S84 geodetic reference coordinate system is used. However, in many surveys a different coordinate system is used, such as a local plane coordinate system, a Transverse Mercator coordinate system, a Lambert conformal cone coordinate system, or NAD 83 or NAD.
A geodetic reference coordinate system based on 27 references is used. The predetermined location, which is the moving target of the mobile receiver, may be defined by any one of the above coordinate system or another coordinate system. Therefore, the initial position of the mobile receiver may be calculated using the WGS 84 reference coordinate system based on satellites. However, in order to move the mobile receiver to a position defined by an arbitrary coordinate system, the TDC survey controller may be used. The 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 one or more mobile receivers and the reference receiver to be accurately measured in real time.
L1 and / or L from SPS signals such as SS signals
Two signals are received and processed. Relative positions, also referred to as differential positions, baseline vectors or baselines, can be expressed as vector components in a geocentric fixed coordinate system or translated into other coordinate systems.

It utilizes measurements of the L1 and / or L2 frequency carrier phase received by both the reference and the mobile receiver. If both frequencies are used simultaneously, L1
And L2 carrier phase measurements. In the differential positioning method, the measured value of the L1 pseudo-range or the L2 pseudo-range is not directly needed, but can be used to assist in the initial setting (calculation of the integer ambiguity). It can also be used for positioning with relatively low accuracy 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 sufficient to locate an existing physical position marker that is not blurred or covered.

Whether using only the measured L1 carrier phase, using only the measured L2 carrier phase, or using a linear combination of the L1 and L2 carrier phases, Reported at the 3rd International Technical Conference of the Satellite Society of Navigation, held in Colorado Springs, Colorado, September 1990. T. Allison, D.M. Farr, G .; Renen and K.C. Martin announced. "
A Geodetic Survey Receiver with Up to 12 L1 C / A Code Channels,
AND 12 L2 Pseudo-P-Code Channels ", or have a separate L2 P-code channel for each received satellite signal,
Alternatively, a receiver having a separate L1 P-code channel for each satellite received may be used. One example of such a receiver is the product model 4000 SS of Trimble Navigation Limited, Sunnyvale, California, released July 1992.
There is an E geodetic survey receiver.

The integer ambiguity can be obtained by various methods. For example, the reference and the mobile receiver may be respectively arranged at known positions that are measured in advance using static surveying. Another approach utilizes one of the three methods disclosed in U.S. patent application Ser. No. 07 / 999,099 to Allison et al. An antenna exchange method can also be used. All 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 U.S. Pat. No. 5,148,179 may also be utilized. The advantage of this method is that the mobile and reference receivers do not need to be relatively stationary or physically close during the initialization process.

Once the phase integer ambiguities have been resolved, the phase measurements together with the phase integers form an unambiguous double difference measurement. This double difference measurement together with the satellite position calculation using the satellite ephemeris and the absolute position of the reference receiver with sufficient accuracy form the information necessary for the calculation of the difference position. Then, the difference position (baseline vector) between the two receivers is calculated by using the least squares method or the Kalman filter method. A suitable difference position calculation method with and without the calculation of the integer ambiguity (accuracy is reduced by that amount) is described in U.S. Pat. No. 5,148,148 to Allison.
179.

Graphic or visible display 51 (arbitrary, FIG. 3)
Is attached to the mobile receiver 13. The controller 45 provides a user interface of, for example, a keyboard or other data input means 47 that allows a user to select a predetermined position, and includes functions to be described later 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 each case, care must be taken to position the SPS antenna so that line-of-sight to the satellite is not obstructed. A small computer that satisfies 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 together with similar measurements obtained by the mobile receiver on a computer incorporated 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 performed 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 measured using this.
The measuring rod 37 is correctly installed using a level built in the measuring rod 37, such as a bubble level 39 shown in FIG. The height of the antenna is an input signal of the TDC survey controller 45, and the antenna position is converted into the rod measuring base position by the TDC or the mobile receiver.

By using the TDC graphic display unit 51 shown in FIG. 3, the user is guided to a predetermined position where the target position is called. A moving image of the user position (the position of the SPS antenna of the mobile receiver) is obtained together with the user's target movement position indication. That is, an electronic map indicating the current position and the target position is obtained. The distance from the user's current location to the destination location is displayed along with the required method between the two 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 a correction for the direction necessary for positioning the user on the course to the target position. .

High TDC is required to provide an effective guidance device
A display update speed is required, for which the speed of relative position measurement in real time must be high. 1 per second
A single position calculation is sufficient, but preferably faster. High speed is especially important when the user is close to the destination, and the final fine movement of the mobile receiver antenna is performed to accurately select the desired destination. By performing the calculation at a 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 operated while adjusting the hand eye.

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

An audible guidance system may be used which provides audible commands to reach the destination. In this case, the guidance information or command may be coded as voices of various frequencies and / or lengths. The guidance information or command can include a synthesized sound.

Other devices (optionally) may 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 very close to the predetermined location, the antenna is stopped. At this point, the TDC indicates the final distance offset and heading from the stick to the destination. Here, the scale bar 61 in which the magnetic compass 63 is incorporated 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. Next, as shown in FIG. 4, the measuring rod may be moved along the scale bar by an amount corresponding to the specified distance offset. This method aligns the rod measuring base with the target position with only one final change of the rod measuring position, eliminating the need to search for the target position. 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 the distance decreases. Therefore,
The distance offset before the final position update using the scale bar must be quite large, for example 1 meter.

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

As a further useful method, when the mobile receiver detects that the mobile receiver antenna is located within a specified distance from a predetermined location, for example, within 10 meters, the graphic display user interface is automatically or at the command of the user. The scale of the image displayed above may be enlarged so that a new distance scale is displayed on the interface.

[0082]

The invention develops dynamic surveying (which is used to determine the relative position of physical landmarks set on the ground, and thus has a limited range of application) to provide a mobile receiver. A method is provided that allows the reference receiver to be moved to a predetermined position. The location may only be present in the mobile receiver's database, or the corresponding physical marker may already be present on the surface of the earth. If the physical marker is not already present, the physical marker can be easily formed by moving the mobile receiver to a predetermined position and using it to determine the position of the required new physical marker. According to the method of the present invention, since the satellite carrier phase data collected at both the reference receiver and the mobile receiver can be processed in real time, the mobile receiver can calculate 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. Mobile receivers are equipped with an electronic display to facilitate user navigation to a predetermined location. The present invention provides a method that enables measurement of distance and angle and identification of a position by predetermined coordinates even if a line of sight or a visual axis is not obtained between a reference receiver and a mobile receiver. Therefore, this method can be used in situations where conventional optical surveying equipment cannot be used. The method includes a suitable communication system that operates between the reference receiver and the mobile receiver without requiring linear wireless communication between the receivers. The device used is lightweight and portable such that one operator can easily determine a predetermined location on the ground surface and / or measure distances and angles in real time. According to the present invention, a predetermined position can be defined by an arbitrary coordinate reference system such as a reference coordinate system used by a satellite. One column of the satellite coordinate system is the WGS 84 geodetic coordinate system. Other examples include 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 the drawings]

FIG. 1 is a pictorial diagram illustrating the operation of an apparatus used in the present invention that utilizes an SPS signal receiver and satellite.

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

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

FIG. 4 is an illustration showing the use of sticks or rods with stalks and length scales to facilitate identification of predetermined locations 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 on the front page (72) Inventor Mark, Nicholas United States, 94086 California Sunnyvale North Mary Ave 645, Trimble Navigation Limited (72) Inventor Jim, Soden United States, 94086 California Sunnyvale North Mary A Venue 645, Trimble In Navigation Limited (56) References JP-A-5-45164 (JP, A) JP-A-3-25310 (JP, A) JP-A-1-91216 (JP, U) JP-A-2-148410 (JP) , U) (58) Fields investigated (Int.Cl. ⁶ , DB name) G01C 15/00-15/14 G01S 5/02 G01S 5/14

Claims (16)

(57) [Claims] 1. A present near the surface or on the surface, a method of accurately positioning the physical location of one or more fixed survey point represented by predetermined coordinates, the first satellite positioning system (SPS ) signal antenna and receiver / provided a processor, a first S position coordinates at a known position
The PS antenna is disposed, the second SPS signal antenna and receiver / processor is provided, to a second SPS signal receiver / processor, notifies the position information and the position coordinates of the fixed survey point of the first SPS signal antenna
And has a predetermined length L between the ends, the measuring lever the distance Tokoro <br/> constant over its entire length is marked provided, the position of the second SPS antenna relative to the first SPS antenna By performing differential positioning in real time and arranging the second SPS antenna at a position represented by predetermined position coordinates ,
And positioning the physical location of the fixed survey point represented by predetermined coordinates, that the second SPS antenna reaches the range of the fixed survey point of the distance d ≦ L, the second SPS receiver / processor
When indicated, method characterized by comprising the step of oriented <br/> direction indicated by the second SPS receiver / processor measuring lever, positions the fixed survey point at the position of approximately a distance d from one end of the measuring lever . 2. The measuring rod is oriented in the predetermined direction on the measuring rod.
The method of claim 1, further comprising the step of providing a turn signal device. (3) Step <br/> Ru notifies the location information of the first SPS antenna, said position information from said first SPS receiver / processor to the second SPS receiver / processor, using data compression format radio The method of claim 1, wherein the step of transmitting is a transmitting step. 4. To form a wireless transmission path from the first antenna to the second SPS antenna , M wireless repeaters m = 1,. . . , M (M ≧ 1), between the first SPS antenna and the first wireless repeater, between each wireless repeater and the next wireless repeater, and between the last wireless repeater and the last wireless repeater. 4. The method of claim 3, further comprising the step of ensuring wireless communication with each of the second SPS antennas. 5. exist near the surface or on the surface, a method of accurately positioning the physical location of one or more fixed survey point represented by predetermined coordinates, the first satellite positioning system (SPS ) signal antenna and receiver / provided a processor, a first S position coordinates at a known position
The PS antenna is disposed, the second SPS signal antenna and receiver / processor is provided, to a second SPS signal receiver / processor, notifies the position information and the position coordinates of the fixed survey point of the first SPS signal antenna
And has a predetermined length L between the ends, the measuring lever the distance Tokoro <br/> constant over its entire length is marked provided, the position of the second SPS antenna relative to the first SPS antenna By performing differential positioning in real time and arranging the second SPS antenna at a position represented by predetermined position coordinates ,
Positioning the physical position of the fixed surveying point represented by the predetermined position coordinates , the first SPS antenna and the second SPS for the fixed surveying point
The position or position coordinates or distance and direction of the antenna
Graphic display user interface for visual display
Is provided in the second SPS receiver / processor, and when it is determined that the second SPS antenna is within a predetermined distance from the fixed surveying point that is the target position, expanding the visible scale of the graphic display user interface. A method comprising: 6. exist near the surface or on the surface, a method of accurately positioning the physical location of one or more fixed survey point represented by predetermined coordinates, the first satellite positioning system (SPS ) signal antenna and receiver / provided a processor, a first S position coordinates at a known position
The PS antenna is disposed, the second SPS signal antenna and receiver / processor is provided, to a second SPS signal receiver / processor, notifies the position information and the position coordinates of the fixed survey point of the first SPS signal antenna
And has a predetermined length L between the ends, the measuring lever the distance Tokoro <br/> constant over its entire length is marked provided, the position of the second SPS antenna relative to the first SPS antenna By performing differential positioning in real time and arranging the second SPS antenna at a position represented by predetermined position coordinates ,
Positioning the physical position of the fixed surveying point represented by the predetermined position coordinates , the first SPS antenna and the second SPS for the fixed surveying point
The position or position coordinates or distance and direction of the antenna
Providing a user interface for notification by voice communication to the second SPS receiver / processor. 7. exist near the surface or on the surface, a method of accurately positioning the physical location of one or more fixed survey point represented by predetermined coordinates, the first satellite positioning system (SPS ) signal antenna and receiver / provided a processor, a first S position coordinates at a known position
The PS antenna is disposed, the second SPS signal antenna and receiver / processor is provided, to a second SPS signal receiver / processor, notifies the position information and the position coordinates of the fixed survey point of the first SPS signal antenna
And has a predetermined length L between the ends, the measuring lever the distance Tokoro <br/> constant over its entire length is marked provided, the position of the second SPS antenna relative to the first SPS antenna By performing differential positioning in real time and arranging a second SPS antenna at or near a new survey point represented by predetermined position coordinates, the physical position of the new survey point is measured , and the second SPS is located. When the second SPS receiver / processor indicates that the antenna has reached the range of the distance d ≦ L from the new surveying point , the second SPS receiver / processor indicates the measuring rod .
Oriented to the direction, before at approximately at a distance d from one end of the measuring lever
Locating the new survey point . 8. The measuring rod is oriented in the predetermined direction on the measuring rod.
The method of claim 7, further comprising providing a turn signal device. 9. Step <br/> Ru notifies the location information of the first SPS antenna, said position information from said first SPS receiver / processor to the second SPS receiver / processor, using data compression format radio The method of claim 7, comprising transmitting. 10. The second SPS from the first antenna
To form a wireless transmission path to the antenna , M wireless repeaters m = 1,. . . , M (M ≧ 1), between the first SPS antenna and the first wireless repeater, between each wireless repeater and the next wireless repeater, and between the last wireless repeater and the last wireless repeater. The second SPS
The method of claim 9, further comprising the step of ensuring wireless communication with each of the antennas. 11. The position or location coordinates or distance and direction of the second SPS antenna for the new survey point, eye
The method of claim 7, further comprising providing a graphical display user interface for visual display on the second SPS receiver / processor. 12. The second SPS antenna is located at a target position.
If it is determined that are within a predetermined distance from that survey point,
The method of claim 11, further comprising enlarging the visible graduation of a graphical display user interface. 13. The first SPS antenna and the new survey.
A graphic display unit for visually displaying the position or position coordinates or distance and direction of the second SPS antenna with respect to the point .
8. The method of claim 7, further comprising providing a user interface to the second SPS receiver / processor.
The method described in. 14. The method according to claim 1, further comprising the step of providing a user interface in the second SPS receiver / processor for notifying , by voice communication , a position or position coordinates or a distance and an orientation of the second SPS antenna with respect to the surveying point being the target position. The method according to claim 7, characterized in that: 15. A device which is present on or near the surface of the ground,
Of one or more fixed survey points represented by
A method of accurately determining the physical position, comprising the first satellite
A position system (SPS) signal antenna is provided, and the position coordinates are
Placing a first SPS antenna at a known location, providing a second SPS signal antenna, and providing an SPS signal receiver / processor with a first SPS signal
Tena position information and position coordinates of the surveying point that is the target position
And the position information of the second SPS antenna with respect to the target surveying point.
An indicator indicating the information is provided, and the position of the second SPS antenna with respect to the first SPS antenna
Differential positioning in real time, represented by the position information
By placing a second SPS antenna in position,
It comprises the step of positioning the physical location of the serial target survey spot
A method comprising: 16. The method according to claim 16, which is present on or near the surface of the ground,
Of one or more fixed survey points represented by
An apparatus for accurately locating a physical location, wherein the first SPS signal antenna has a known location coordinate.
Satellite positioning system (SPS) signal
The antenna includes a tener, a second SPS signal antenna, and position information and a target position of the first SPS signal antenna.
SPS signal receiver / processor for notifying the position coordinates of survey points
A positioner of a second SPS antenna with respect to the target surveying point , provided with a processor.
And a position indicator for the second SPS antenna with respect to the first SPS antenna.
Differential positioning in real time, represented by the position information
By placing a second SPS antenna in position,
Characterized in that it measures the physical position of the target surveying point .
Device.