RO126294A2 - Mobile system and process for mapping objects located at a large distance from roads - Google Patents

Abstract

The present invention relates to a mobile system and to a process for mapping objects located at a large distance from roads, and which are directly inaccessible. The claimed system comprises a laboratory vehicle (V.L.) whose position angles and geographical coordinates are real-time determined by means of a GPS receiver sustained by an inertial navigation system (INS) and an Internet connection to a national network of base stations furnishing differential corrections of RTK type (Real Time Kinematic), in conditions wherein an antenna (Ant. GPS) of the GPS receiver is placed in the vicinity of a video camera (C.V) on a mounting platform arranged on a hood of the laboratory vehicle (V.L), the video camera (C.V) having the objective oriented towards the lateral side of the vehicle (V.L.) under a precisely determined fixed angle. The claimed process provides the carrying out of a succession of determinations and an automatic data acquisition and also the implementation of a calculus algorithm by means of which there are carried out: the determination of the value of absolute position angles ( Ψ, Θ, Φ) of a target (T) aimed in relation to a point wherein there is located the video camera (C.V.) at the moment wherein the respective image was acquired and the determination of geographical coordinates of the target (T) in latitude and longitude, by applying some triangulation processes on the values of position angles and azimuth, respectively, ( Ψ) and ( Ψ) of the target T, said angles being determined in relation to North direction (N) of the local magnetic meridian and which corresponds to two different positions (Poz.1 and Poz.2) of the laboratory vehicle (V.L.), positions located at a distance (B.M.) which constitutes the measuring base.

Description

MOBILE SYSTEM AND METHOD FOR MAPPING OBJECTIVES LOCATED DISTANT FROM ROAD ARTERIES

The present invention relates to a mobile system and to a method of mapping objectives or components thereof, provided that they are at great distances from road arteries (buildings, landmarks) or are inaccessible. directly (dams, bridges, tailings dumps), from a continuously moving laboratory vehicle.

The inventory of the objectives set along the roads, as well as those suspended along the national highways is an important issue for infrastructure management by public works administrators. With the increasing demands to regulate the ever-increasing traffic densities simultaneously with the reduction of the budgets allocated for this purpose, the traditional methods of highway inventory are becoming more and more inefficient.

The various facilities on motorways, of which traffic signs are mentioned in the first place, may be subject to regulations or specifications concerning their size, positioning or visibility. Consequently, the verification that a single road sign is properly arranged may require manual measurements of the position of that sign in relation to a marking of the reference mileage and the object indicated by the sign. The distance from the edge of the highway and the height of the sign above the pavement can also be important. Measuring these parameters is time consuming and requires a lot of labor. In addition, it may be necessary to periodically check that the sign has not been damaged to the extent that its visibility is compromised, that it has been vandalized or that it has been damaged for various reasons. From the point of view of protection against possible future litigation, a reference imaging recording can be helpful.

The effort involved in these activities is special, both in terms of labor and financial contribution, requiring not only the time required to perform these measurements, but also the time required to travel to and between the surveyed sites. Added to this is the risk to the safety of operators as they work and park their vehicles on congested motorways. Finally, the data acquired through this intensive (single sign) investigation needs to be entered into the same type of database management system.

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It is becoming increasingly clear that a radically new solution is needed to adequately meet measurement and inventory needs; a solution that no longer requires manual field measurements and is largely automatic.

Compared to manual measurements, this automated technology has many advantages, including:

1. Inventory and measurements can be performed quickly, with a short delay between the time a feature is identified and the time it is incorporated into a database. For manual measurements, the time required for this operation is usually longer and may involve significant effort and interruptions due to control and traffic problems. in addition, in the case of the automatic system there will be fewer delays due to adverse weather conditions;

2. Due to the speed with which measurements are made, they become cheaper, even if the capital costs required to purchase the equipment are taken into account;

3. The data collected are more objective, more accurate and uniformly reported. Manual measurements are typically performed by different teams of operators with different degrees of objectivity in measurements and reporting. depending on the competence of the team, the weather conditions and the degree of fatigue of the team, several errors may occur in the manual measurements;

4. By using these automated technologies a permanent record can be established. The measurements can be repeated at any time, by re-analyzing the video recording without the need for a return to the field.

Mobile Mapping Systems (MMS) perform dynamic prospecting of road networks and their adjacent objects in order to create digital maps that include both the geometry of the roads and their characteristics. As a result, MMS systems integrate most of the current prospecting techniques, namely GPS receivers, inertial sensors, digital imaging, laser telemetry, so that a mobile mapping system involves a laboratory vehicle that is equipped with:

- A positioning system, ie a high-precision GPS (carrier phase differential GPS), associated with a strapdown inertial navigation system (INS) that ensures the accuracy of measurements even when it is not possible to receive satellite signals. An odometer (wheel sensor) can be added to measure the distance covered;

- An imaging acquisition module, consisting of one or more video cameras to record the environmental elements of the road. The imaging module is synchronized with the GPS time to obtain the position and attitude for each image;

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- A data processing module that combines positioning data and images in order to define an accurate and reliable position for the desired objects. In this regard, it should be noted that the International Standard ISO - GDF - Geographic Data File specifies how roads must be described in order to be correctly interpreted by navigation systems.

Thus, the company "Lambda Tech International" in Fort Wayne (USA) has developed a mobile mapping equipment called "GPSVisiorP ' ¹ " which is equipped with a positioning module consisting of dual frequency GPS receivers, an Inertial Navigation System (INS) and from a Linear Distance Measuring Device (DMI), in combination with four high-resolution digital video cameras. Being mounted on a van or a high-rail vehicle, the GPSVisiorP ' ¹ system can travel at authorized speeds on roads and railways, simultaneously with the collection of digital images of infrastructures in the transport environment.

Digital video cameras are mounted above the vehicle and can be oriented forward, sideways or backward depending on the requirements of the application, so that video cameras view, at a given time, the same terrain area from different positions, using algorithms triangulation locations can be calculated in relation to the laboratory vehicle of the targeted targets.

As a result, given that the integrated GPS / INS system provides the position and direction of the GPSVision ™ system, and the pairs of synchronized cameras take stereo images that are each marked with the position and angular attitude from which they were acquired, any visible object in both images of a stereo pair can be accurately measured and located in a global coordinate system. Images are taken at 16-meter intervals for highways and railways, while user-defined purchase distances of 10 to 12 meters can be used for streets in residential or urban areas.

Stereo digital images, GPS data and inertial data are collected and entered in the GPSVision data register, provided that, after processing the GPS data and their differential correction, the positioning data of the target objectives are entered within a circular area with a diameter of one meter or less in relation to their actual location.

A similar example of a mobile mapping and data collection system, which can map railways, roads and transport infrastructure (eg roads, traffic signs and bridges) while traveling at normal traffic speeds is represented. by the “GPSVan” system developed by the Ohio State University Mapping Center and

I -07- 2009 which also consists of two main components: a positioning module and an imaging module.

The GPSVan ™ equipment positioning module integrates a Global Positioning System - GPS in differential mode with an independent Dead-Reckoning System (DRS) that records the position of the vehicle during periods of temporary loss of GPS data (periods of satellite signal blocking by trees or other obstructive elements). Additional attributes, such as traffic signs, bridges, etc., can be registered by a system operator, using a computer keyboard or the touch screen of the system laptop.

The imaging module of the GPSVan ™ equipment includes a two-video stereometric system that records stereo images of road arteries as the laboratory vehicle moves on them. The stereo system is complemented by a system equipped with an analog camera that works in a continuous video mode through which it acquires a photographic logging of the prospecting. Each video frame is marked in time with the GPS signal, and the geodetic coordinates (respectively, latitude, longitude and ellipsoidal height) are assigned to each image. Stereo digital pairs are processed in a post-mission mode to determine the geodetic coordinates of objectives, such as road edges and centerlines, curves, traffic signs, mileage, etc., with a relative accuracy of 5 -10 centimeters within a distance of 10-40 meters from the vehicle.

From what is presented, it results that both the GPSVision ™ equipment and the GPSVan ™ equipment constitute, in their essence, a fixed-based stereovision system, with known position and attitude, provided by the GPS / INS component and the GPS / DRS component, respectively. This fixed base is represented by the distance, on the width of the hood of the laboratory vehicle, between the optical axes of the two video cameras, mounting distance which in the case of both GPSVision ™ and GPSVan ™ equipment is approx. 1.2 meters. However, this low value of the fixed base means that the difference between the angles of the viewing directions of the two video cameras is below the minimum measurable value by the optical system, when it targets targets at a distance of more than about 40 meters from laboratory vehicle. This limitation to a rather small value of the observation distance is, moreover, the main disadvantage of stereometric systems based on the use of a pair of video cameras mounted on the same laboratory vehicle.

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To remedy this shortcoming, the “Applanix LANDMark” mobile mapping system developed by Applanix Corporation of Ontario (Canada) is based on the use of a single-camera digital automatic system for the acquisition of images of targeted targets in the field. In order for this mode of operation to be possible, respectively to ensure the “Applanix” system the ability to compare pixels from successive frames of time-stamped imaging, the system is provided with a precise positioning system, “POS LV”, constituted by tight coupling between an inertial unit of measurement - IMU and a dual frequency GPS receiver.

Also, another essential component of the POS LV equipment hardware is the distance measuring instrument (DMI) which is mounted on the axis of the drive wheels of the laboratory vehicle and which provides electrical pulses at equal angular intervals of rotation of those wheels. These pulses are converted by the POS LV equipment into measurements of the incremental distance traveled by the vehicle, for situations where GPS signals are not available.

Based on this equipment, in the data acquisition process, the operator drives the vehicle at the speeds allowed on the respective highway, in order to record the data on the road surface, and / or on the objectives on its side. The LANDMark system can also be installed on railway vehicles to perform the same activities and to record existing objectives and other features of interest along the route.

It should be noted, however, that although the POS LV positioning system used by LANDMark mobile mapping equipment provides it with proper positioning accuracy, its automatic image acquisition system and the overall optical system of the only digital video camera used have the disadvantage. that it only allows the takeover of the objectives located near the crossed arteries. To compensate for this, the makers of LANDMark have resorted to a solution, which is more difficult to apply by all those involved in such operations, namely the solution of combining data sources taken from the field with those taken from aircraft, using in for this purpose applications such as “Google Street View” and “Microsoft Virtual Earth” to get a top-level view of the precise location of an area of interest.

Another mobile unicameral mapping system is also represented by the Mobile Highway Analyzer (ARAN) developed by the Canadian company “Roadware GRP” and which is intended to collect measurement data related to objects, characteristics, structures and landmarks located by

9 -07- 2009 along highways and roads, for their planning, management and maintenance.

Among the applications of the ARAN mobile system, it is mentioned first of all that this system allows to establish quickly and repeatedly an initial database for the management of traffic signs. When used in conjunction with the data flow of the GPS system, ARAN equipment can be used to geocode the centerline, roadside and shoulder, along with the location and type of various adjacent roadside elements.

The ARAN equipment can also be used by the Highway Monitoring System to record a number of landmark data, such as: the number of tracks, their width and shoulders.

The movable part of the system collects data in the field and consists of a multifunctional vehicle equipped with a precisely calibrated high-resolution video camera, mounted inside the cab of the vehicle and oriented to the right side of the road or its hood for panoramic images, with a distance measuring instrument for spatial positioning, with a geometric gyroscopic system and with an ultrasonic levelmetry system for the precise measurement of vehicle attitude.

An optical encoder arranged on the motor axis of the vehicle is used to measure the distances traveled by the laboratory vehicle during the determinations during the determinations, and the time code of the data acquisition is made by the marking pulse provided by a tape video recorder, at 1/30 second intervals.

at the same time, the current attitude of the vehicle is determined by means of a system usable for short-distance navigation, namely a system composed of two conventional gyroscopes providing analog data and of which a gyroscope is used to measure pitch and roll, and the second to measure azimuth. In addition to the absolute values of the pitch and roll angles of the vehicle determined with the gyroscopic group, the equipment with which the ARAN system is provided measures these angles in relation to the road pavement plane by means of four ultrasonic sensors arranged at the four corners of the vehicle. , sensors that measure the distance between the vehicle chassis and the road surface at 1/15 second intervals with an accuracy of 1.0 mm, in a range between -128 and +129 mm from the reference datum.

Optionally, the ARAN system also has a GPS receiver that is used to obtain more accurate position information, provided that standard GPS data is differentially corrected to achieve a maximum resolution of up to 1 meter. With a

4 -07- 2009 lower recording frequency than the one used for gyroscopic or level data, GPS data are reported every second or every 30 frames of image, the interpolation between these moments being achieved by "inertial navigation" which uses gyroscopic data and those of the encoder instrument to measure distances.

Data acquisition is ensured by a computerized system, and the video system uses a time code to synchronize the acquired images with the geometric and positional database. On this basis, the “Surveyor” software of the “ARAN” system can perform measurements on multiple images using the triangulation procedure or on single images using the idealized highway plan as a reference.

The Surveyor workstation consists of a PC, multiple monitors and tape video recorders, and the computer uses a video capture card with the ability to compress the purchased images.

The disadvantage of the solution adopted by the ARAN equipment is due to the fact that a GPS receiver is only optionally used, so that the camera is triggered from the outside by the signal received from the GPS satellite system to mark all images. with UTC universal time, each video frame is purchased at one-second or 1/15-second intervals commanded by the tape-timer video recorder “timer,” which results in the synchronization of multiple images being accompanied by additional errors.

However, a different approach to solving the positioning component is presented by the mobile mapping system "Photobus" developed by the Geodetic Engineering Laboratory (TOPO) within the Swiss Federal Institute of Technology in Lausanne EPFL (Swiss Federal Institute of Technology Lausanne). A set of devices that includes GPS receivers, an Inertial Navigation System (INS) and CCD cameras are mounted on a mobile land vehicle with which the Photobus system performs the automatic prospecting of specific road features such as the center line, markings and road signs at speeds up to 100 km / h and with sub-decimetric level positioning accuracy.

In order to achieve a positioning limited only to certain objectives, such as traffic lights, the dimensions of which are a priori known and provided that both these objectives and the laboratory vehicle are kept in the same horizontal plane, the Photobus mobile equipment uses separately, a single video camera, which is placed horizontally, perpendicular to the longitudinal axis of the laboratory vehicle.

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In the same way, by using a single video camera separately, the real-time mapping of the road geometry is done. For this purpose, the acquisition of images and their processing is carried out autonomously by an Ethercam type camera oriented downwards in the vertical direction and which is endowed, like the first mentioned camera, with a built-in PC. Being triggered by the external control provided by a GPS pulse to ensure accurate synchronization, video systems capture frames through its CMOS pixels that are less affected by lighting variations, an effect found in variants that use CCD sensors.

The second component of the system is represented by a mobile base station that ensures the real-time determination of the position and orientation (azimuth) for the Ethercam camera in the area traversed by the Photobus equipment. This station is based on the use of a dual-antenna GPS receiver whose primary chip permanently transmits RTK corrections to the secondary chip, in order to obtain orientation (azimuth) with a degree-level accuracy. For this purpose, a regional-level DGET server based on Intemet has also been designed, which contributes to the centimeter-level location of the primary chip of the GPS receiver on the Photobus equipment via a GPRS connection. Given that it collects corrections from a base station network with a frequency of 5 Hz, this server transmits correction RTK messages from the nearest reference.

According to the makers of Photobus, the method of using a monoscopic view provided by a vertically oriented video camera to extract road geometry has considerable advantages over that based on systems that use forward-facing cameras, on the direction of travel, and methods stereoscopic extraction of the characteristics, due to the fact that:

- allows the use of digital cameras with lower resolution, optical quality and stability;

- reduces the complexity of calibration and lead time;

- improves the visibility of the target in heavy traffic;

- allows fully automated and reliable extraction of features, possibly in real time;

- reduces costs while maintaining optical accuracy at a centimeter level.

It is also worth mentioning that the Photobus system is used to monitor the center line, given that the combined differential and Dead Reckoning GPS technologies ensure a positioning accuracy of approximately 1.5 meters. following the improvement of the system by using a GPS receiver that the ability to receive and

4 -07- 2009 EGNOS satellite signals, the positioning accuracy is between 2 and 3 meters, when the laboratory vehicle moves in an unobstructed area, so that, taken separately, the correction signals provided by the EGNOS satellite system it only ensures the ability to locate the laboratory vehicle within the limits of each separate traffic lane.

The disadvantage of the Photobus system is precisely this limited range of its applications, and this is mainly due to the fact that the inertial navigation equipment with which it is provided only ensures the continuous positioning of the laboratory vehicle and the determination of its absolute position angles.

The single-video mobile mapping system according to the invention aims to eliminate the above-mentioned disadvantages by the following series of combined measures:

- To increase the measurement base of the stereometric system, instead of using two video cameras mounted on the same laboratory vehicle, a single video camera is used, the measurement base being the distance between the positions from which the camera video, following the movement of the laboratory vehicle, aims at the same objective arranged at a distance that is usually much greater than that which can be taken over by bicameral systems;

- In order to increase the time-marking accuracy of the purchased video images, the operation of triggering the video cameras is performed from the outside, by the signal received from the GPS satellite system, signal that contains in its message outside the position data and time data universal UTC;

- In order to increase the distance from which the targeted targets can be positioned in the field, the use of a high-resolution digital camera in fixed mounting on the laboratory vehicle and which is equipped with a telemetry lens and a narrow field of view;

- In order to increase the positioning accuracy of distant objectives, the use of a dual frequency GPS navigation system with the ability to operate in differential mode closely coupled with an Inertial Measurement Unit - IMU is used, the data of these systems being distributed through a Kalman type filter element;

- In order to ensure the positioning of the targeted objectives in the global terrestrial coordinate system and their inscription in GIS (Geographic Information System) type files, a methodology and a calculation algorithm are used that allows to perform in successive steps, the operations of extracting the pixel coordinates which correspond, in an image, to the reference mark and the definition of a position vector for that mark, in relation to the first position of the video camera, the transfer of this vector to the coordinate system of the laboratory vehicle,

I 9 -07- 2009 and then in the global reference system. Repeating these operations for the second position of the video camera, followed by the correlation of the two position vectors of the target landmark in relation to their measurement base, to finally establish the position of the landmark in relation to the global terrestrial coordinate system.

Other features and advantages of the invention are presented in the following detailed description of the mobile system and the method of mapping objectives located at great distances from road arteries, a description which refers also to the accompanying drawings, respectively fig. 1 ... 19, which represent:

- fig. 1, the block diagram of the module with which the reception of RTCM differential corrections is performed;

- fig. 2, the layout of a GPS antenna (Ant. GPS) and a video camera (C V.) on a mounting platform (Pt.) Arranged on the hood of a laboratory vehicle (V.L.);

- fig. 3, the presentation diagram of the laboratory vehicle (VL) with the highlighting of the interior of this vehicle, inside which is arranged an operating station comprising a receiver (GPS) coupled with an inertial unit (INS) and a computing and storage unit data (Comp.);

- fig. 4, principle diagram of the process of mapping a distant target (T) by aiming it with a single video camera (CV) from two positions (Ροζ. 1) and (Pos. 2) of the laboratory vehicle (VL), positions located at a distance (BM) which is the basis of measurement and at which the target is detectable in both image frames taken by the video camera;

- fig. 5, diagram for defining the azimuth angle Ψ of the laboratory vehicle;

- fig. 6, diagram for defining the pitch angle Θ of the laboratory vehicle;

- fig. 7, diagram for defining the roll angle Φ of the laboratory vehicle;

- fig. 8, diagram for defining the angle of rotation Tf of the optical axis of the video camera (CV);

- fig. 9, diagram for defining the angle of inclination & c of the optical axis of the video camera (CV);

- fig. 10, optical diagram for defining the deviation angles ț // pSÎ 3 _p of the target direction z _T in relation to the direction of the central optical axis zq of the video camera, as well as for defining the way in which the target image Τ 'is formed in the CCD sensor plane to the video camera;

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- fig. 11, geometric schemes for determining the expressions for defining the deviation angles ψ _ρ and & _p of the target direction as a function of the linear coordinates, d _x and d _y , of the image of this target on the CCD sensor of the video camera:

a. the scheme for determining the expression of the deviation angle ψ _ρ ;

b. the scheme for establishing the expression of the deviation angle & _p .

- fig. 12, diagram for defining the deviation angle ψ _ρ of the target direction in the horizontal plane;

- fig. 13, diagram for defining the deviation angle & _p of the target direction in the vertical plane;

- fig. 14, the scheme for defining the absolute azimuth angle of the target Ψ / ·;

- fig. 15, the scheme for defining the absolute elevation angle of the target;

- fig. 16, the scheme for defining the absolute rolling angle of the target Φ / target;

- fig. 17, diagram for determining the position of the target T in the horizontal plane of the reference ellipsoid by aiming it from two different positions, Ci and C2, of the video camera, positions resulting from the movement of the laboratory vehicle on the test path;

- fig. 18, the positioning scheme of the target T targeted in geographical coordinates, longitude and latitude, respectively, on an equivalent sphere of the globe;

- fig. 19, the scheme for establishing the calculation ratio of the height h of the target T in the horizontal plane (P.O.) of the reference ellipsoid.

However, the practical configuration of the mobile mapping system implies first of all the definition of the level of accuracy that must be ensured by the measuring equipment with which the respective system is provided.

Thus, for topometric determinations of field targets, a linear position deviation of approximately d = 0.2 meters (20 cm) is usually allowed. This condition applies primarily to the laboratory vehicle whose positioning with this level of accuracy requires the use of a GPS receiver that has the ability to operate in RTK (Real Time Kinematic) mode, respectively has the ability to connect via the network by Internei to a reference GPS station to which it is subscribed and from which to take over the differential corrections.

Even in the absence of errors due to the MMS laboratory vehicle's own positioning, a linear deviation d of the target target positioning occurs due to the angular measurement error ε inherent in the inertial IMU equipment used, as follows from the relation:

4 -07- 2009 ε [grade] =

360 ° χ <7

2 · π · Ό in which the notations were used:

ε - the angular measurement error of the inertial IMU equipment used;

d - linear deviation of the target target positioning;

D - the actual distance to the target.

If the condition defined above for GPS equipment is unique regardless of the mode of use of the mobile mapping system, for the inertial unit IMU, the conditions are different depending on the destination, respectively the application in which the Mobile Mapping System will be used:

A) Mobile Mapping System with two video cameras and which is used to map the roads traveled by the laboratory vehicle, traffic signs and objectives near the traffic artery at a distance D not exceeding 40 meters.

With the above relation, for d = 0.2 meters and D = 40 meters, the maximum allowed value for the angular error of the inertial unit IMU is obtained: ε = 0.28 °.

B) Mobile Mapping System which can operate with a single video camera and which, in addition to the missions listed above, can also perform tasks of mapping buildings, bridges, dams, whose maximum distance to the laboratory vehicle can reach up to at the value D = 200 meters.

With the same relation above, for d = 0.2 meters and D = 200 meters, the maximum allowed value for the angular error of the inertial unit IMU is obtained: ε = 0.057 °.

Whereas the performance and, consequently, the scope of the mobile mapping system are primarily determined by the ability of the satellite positioning module (GNSS) and the inertial measurement module (IMU) to ensure the levels of accuracy above, it is necessary, further on the basis of the analysis of aspects of the operation of these two modules, to establish their optimal configuration for the mobile mapping system according to the invention, as follows:

a) GNSS Differential Positioning Module

Global Navigation Satellite Systems (GNSS), such as NAVSTARGPS (USA) and GLONASS (Russia), allow high-precision positioning in a geocentric reference system at any point on, near or outside the earth's surface. using artificial satellites of the Earth.

These GNSS positioning operations are presented in two basic variants: a) Single point positioning and b) Differential positioning.

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In single point positioning, the coordinates of the location of a GNSS receiver are determined relative to the Earth's frame of reference by using the known positions of the GNSS satellites being tracked. The position solution, which is generated by the receiver and which is largely affected by the atmospheric propagation conditions of the radio waves, is initially developed in the ECEF (Earth-Centered-Earth-Fixed) coordinates, which are then converted to any another regional coordinate system.

In differential positioning, also known as relative positioning, the coordinates of a GNSS receiver, which in this case represents the "rover" station, are determined in relation to a GNSS receiver which is the "base station" and whose position was previously determined with great precision by using conventional prospecting techniques. In this way, any differences between the known position of the base station and the position calculated at this station based on GNSS satellite techniques can be attributed to the different components of the positioning errors. The base station transmits to the rover station information on each satellite being tracked, so that the pseudo-distances (satellite-receiver distances) measured by the mobile receiver are corrected based on the differential corrections obtained from the base ghost.

Corrections transmitted by the base receiver can be pseudodistance corrections (PRC-PseudoRange-Corrections) and pseudo-distance variation corrections (RRC - Rate of Range Corrections). These corrections can be determined using the pseudo-distances determined on the basis of the codes transmitted by the satellites (DGNSS variant - Differential GNSS) or on the basis of the measurements performed using the carrier wave phase (RTK variant - Real Time Kinematic).

in the case of the differential method applied on the phase of the carrier wave of the satellite code signal, RTK type positioning solutions are obtained with much higher accuracies, respectively of the order of 1-2 cm. In this regard, it should be noted that the instantaneous distance between a GNSS satellite and a receiver can be estimated in terms of a number of wavelengths of the carrier through which the signal propagated. This number which has a fractional component and an integer component can be considered as the result of a pseudo-distance measurement (in cycles) with a constant integer offset, initially unknown. Tracking circuits can determine, in a relatively simple way, the fractional component and the changes presented by the whole component of this number of cycles, provided, however, that the determination of the whole initial component is less direct and is in fact the element of “Ambiguity” of these operations.

For this reason, unlike the pseudo-distance calculation algorithms in which the base stations transmit only the corrections, in the case of algorithms that apply to the carrier phase, they make the "double difference" of the current observations of the receivers.

4 -07 “2009 from the base station and from the rover station, a double difference that is formed by the decrease, from each other, of the measurements performed on identical satellite pairs received at the two receivers.

The generation of these differential corrections can also be done in a network of reference stations (receivers), such as EUREF - European Network for the Dissemination of GPS Differential Corrections that covers the entire European continent and maintains in real time, on the Internet , a Global Navigation Satellite System (GNSS) infrastructure using the GPS / GLONASS stations of its European Permanent Network (EPN) to disseminate corrections in accordance with the Radio Technical Commission for Maritime Services (RTCM) protocol.

The EUREF network is also interconnected by a National GNSS Permanent Station Network, such as ROMPOS, a network whose correction data provision services necessary to improve positioning accuracy can also be used in situations where the user has only one. GNSS receiver, but has the possibility of connecting from the field to the Internet, through GSM / GPRS / CDMA connections.

Thus, the ROMPOS - DGNSS service provides corrections for real-time kinematic applications with a positioning accuracy between 3.0 m and 0.5 m for single-frequency receivers, and the ROMPOS-RTK service provides corrections for real-time kinematic applications with a positioning accuracy between 0.5 and 2.0 cm for two-frequency receivers, the data format provided with a frequency of 1 Hz for both services, complying with the RTCM 2.x, 3.x protocol.

For real-time positioning applications, regardless of the type of network being used, a continuous data link must be established between the reference network and the rover stations for DGPS users to receive differential corrections generated from the reference network. For differential positioning in local or regional areas, radio communication systems are used, and for areas covered in the Intemet network this alternative of transmitting and receiving differential corrections is used. Thus, for DGPS and RTK (Real Time Kinematic) applications using the Intemet network, the communication line between the reference network and a mobile user consists of two consecutive elements: Most of the communication distance, which is wired, is covered of Intemet, while the rest of the distances, shorter, to different mobile users, can be covered in good condition with mobile cell phones.

Taking into account those mentioned above, for carrying out the module for receiving the differential corrections for the mapping equipment according to the invention, as t, -O? - 2009 shows in fig. 1, the use of a GPS receiver is provided which is provided with separate connectors for the reception of differential corrections of type RTCM - Correct. RTCM and for the transmission of corrected GPS data - GPS Correct. Through these connectors, the GPS + INS receiver connects to two serial ports of a computer system - Notebook, so that, through its first port, the corrected GPS data corresponding to the user's location is received, and through the second port transmit to the GPS receiver the differential corrections received from a distribution network via a cellular mobile phone TM with CDM A operation and which is connected to a third port of the computer system.

b) Integrated GPS-INS positioning module

As mentioned above, GPS positioning makes measurements of the distance of the receiver from the satellites of the Global Positioning System, measurements based on which the receiver can calculate its position and speed, given that in its field of view find out at least four satellites simultaneously.

On the other hand, an Inertial Navigation System (INS) uses the values of parameters such as forces and rotations measured by an Inertial Measurement Unit (IMU) to calculate the acceleration, speed and attitude angles of the user's receiver. The forces are measured by the IMU with accelerometers arranged on three perpendicular axes, and a set of gyroscopes measures the rotations around these axes, provided that this unit is provided with a series of initial data, such as position, speed and angles. of the initial attitude, as well as the speed of the earth's rotation and the value of its gravitational field. Even under these conditions, due to the fact that errors affecting the measurements made by the sensors of the IMU accumulate over time, a positioning solution that relies only on inertial elements degrades over time if the external update of the position values is not ensured. , speed and attitude. This periodic update is performed using a SPAN (Synchronous Position, Attitude and Navigation) interface system that integrates raw inertial measurements with all available GPS solutions, an interface that is based on the Kalman filtering method whose state vector includes attitude, position, speed, accelerometer offsets and gyroscope drifts, to provide the best possible solution in any situation. In this way, by using the high-precision GPS solution, the measurement errors of the INS inertial system can be modeled and diminished, and on the other hand, the continuity and relative accuracy of the INS inertial solution ensures a faster reacquisition of the GPS signal. its interruptions, as well as an increased convergence in obtaining RTK-type solutions.

h (Î7 “2009

Accordingly, in view of the above, the system, according to the invention, for mapping objectives located at great distances from road arteries or which are directly inaccessible, comprises a laboratory vehicle V.L. moving at the speeds allowed on the road artery under prospecting and whose position angles and geographical coordinates are determined in real time by means of GPS positioning equipment capable of receiving two satellite frequencies LI and L2 and which is supported by a system inertial navigation - INS and an internal connection to a national network of base stations providing differential corrections corresponding to the RTK (Real Time Kinematic) operating mode. Among the basic conditions involved in the precise positioning of the targeted targets is a good synchronization between the time of acquisition of the image frames and the universal time UTC whose signal is provided by the PPS (Puise Per Second) output of the GPS receiver.

As shown in FIG. 2, an antenna Ant. GPS of the GPS receiver is located on the longitudinal axis zy of the laboratory vehicle on a mounting platform Pt. arranged on its hood. On the same platform, in order to achieve the optical aiming of the field objectives with the help of a uni-camera video system, at a distance m from the antenna, in the direction of the Xy transverse axis of the vehicle is mounted a video camera (CV) whose optical objective is oriented towards a side of the vehicle at a fixed angle, precisely determined, corresponding to the intended application, the angle at which the coordinate system, x'c, z'c> of the video camera is rotated in the horizontal plane of the laboratory vehicle relative to the coordinates, Xy, zy, of it.

In an uninterrupted determination application, the video camera has a fixed orientation relative to the carrier vehicle, by locking the horizontal rotation, tilt and zoom of the camera to values for which the camera has been calibrated. The calibration data is stored and subsequently used to define the orientation of the camera in relation to the direction of travel of the vehicle and to define the scale of the image. In addition, each image purchased by the camcorder is marked with its position and attitude by the GPS / INS component of the mapping equipment.

inside the laboratory vehicle whose video camera, as shown in FIG. 3, refers to a traffic sign S.C., is located a station of operation of the mapping system, station which comprises a GPS receiver coupled with an inertial unit INS and a unit of calculation and data storage Comp ..

The mapping process according to the invention involves the realization of a succession of determinations and automatic data acquisitions, as well as the implementation of a calculation algorithm h ^r J? “2009 with which it is realized: a) the determination of the values of the absolute position angles, Ψ /, Θ /, Φ ?, of a target T target in relation to the point where the CV video camera is located at the time the image was acquired and b) the determination of the geographical coordinates of the target T, in latitude and longitude, in the horizontal plane of the of the reference terrestrial ellipsoid, by applying triangulation procedures to the values of the position and azimuth angles, respectively, and Ψγ ₂ , of the target T, angles determined in relation to the North N direction of the local magnetic meridian and corresponding to two different positions, Pos .l and Item 2 of the VL laboratory vehicle, positions located, as shown in fig. 4, at a distance

B. M. which constitutes the measurement basis and at which the target is detectable in both image frames taken by the CV video camera, in post-processing mode, the operator interacts with the software on which the mapping process according to the invention is based, by scoring, with the mouse of the computer system, of the objectives of interest viewed from two different locations of the laboratory vehicle.

In an overview of the process of mapping targets located at great distances from road arteries, it can be considered that each pixel selected by the operator in a video image frame represents a vector in space: in this sense, the algorithm for calculating the mapping converts the x, y, coordinates of the pixel into a “aiming direction vector”, initially related to the median vector of the video camera, the aiming vector being then rotated relative to the rotation, pitch and rally of the video camera, based on information when calibrating the camera. Next, the resulting vector is rotated to take over the pitch and rally of the vehicle relative to the horizontal plane, using the angular data provided by the IMU Inertial Measurement Unit. After thus determining the position vectors of the target in relation to two different locations of the laboratory vehicle, the mapping process software performs a triangulation to determine the relative position in relation to the laboratory vehicle of the selected target and further transfer it to the target vehicle. a global coordinate system (eg latitude, longitude, altitude).

Turning now to the detailed presentation of the mapping process, it is specified that it is based on a calculation algorithm that corresponds to the configuration adopted for the mapping equipment according to the invention and which consists of two main components:

I. The group of relations of calculation of the absolute angles of position, Ψ /, Θ /, Φ / -, of the target in relation to the point L where the objective of the video camera is placed;

4 -07- 2009

Π. The group of calculation relations used to determine the position of the target T in the horizontal plane of the reference ellipsoid.

In turn, the first component of the algorithm comprises the following calculation steps:

A. Definition of the position angles, Ψ, Θ and Φ, of the laboratory vehicle provided by an Inertial Measurement Unit - LM.U:

1. Azimuth angle Ψ of the vehicle;

2. The pitch angle Θ of the vehicle;

3. Rolling angle Φ of the vehicle.

B. Defining the laying angles, Ψρ; and Θρ ;, of the camcorder:

4. Angle of rotation Ψρ; of the room;

5. Tilt angle Θρ; of the room.

C. Define the deviation angles, ψρ $ ι 3p, of the target direction in relation to the direction of the central axis of the video camera.

D. Integration in the calculation system of the deviation angles, ψρ and 3p, of the target direction:

6. Deviation angle on the side ψρ \

7. Vertical deviation angle 3p.

E. Defining the absolute angles of positioning of the target,, Θ _? , Φ ₇ :

8. The absolute azimuth angle of the target Ψρ;

9. Absolute elevation angle of the target 0 /;

10. Absolute rolling angle of the target Φ7.

F. Integration in the calculation system of the absolute position angles, Ψγ, Θγ, Φγ, of the target.

The detailed presentation of the steps of the calculation algorithm listed above has the following aspect:

I. The group of calculation relations of the absolute position angles, Ψ /, Θγ, Φγ, of the target.

A. Definition of vehicle position angles, Ψ, Θ and Φ, provided by the I.M.U.

1. The azimuth angle Ψ of the laboratory vehicle V.L. is defined, as shown in FIG. 5, in relation to two coordinate systems arranged horizontally, namely:

<ι -07- 2009

- the coordinate system x, y, z _v, in the horizontal plane of the actual space in which the vehicle _V system whose Z axis is oriented in the direction of the local magnetic meridian N;

- the coordinate plane system, x'y, z'y, connected to the vehicle, a system in which the z'y axis is oriented in the direction of the longitudinal axis of the vehicle.

In relation to these references, the azimuth angle Ψ represents the angle with which it is rotated in a direct direction, with respect to the coordinate system, Xy, Zy, in the horizontal plane of the current place, the coordinate system, x'y, z'y, bound of the vehicle, respectively the current angle between the direction of the local magnetic meridian N and the direction z ' _y of the longitudinal axis of the vehicle.

It is important to note that all coordinate systems that have been defined, as well as those to be defined, originate at the same L point where the system's video camera lens is placed.

Under these conditions, a reference unit vector A, originating in the above-mentioned point L, whose components in the three-dimensional coordinate system, Xj /, jy, zjz, are, Ayy and A _Z y, respectively, has in the three-dimensional coordinate system related of the vehicle, xy, yy, z ' _v , the components A ^ y, Ay ^ and respectively.

As shown in the vector diagram in FIG. 5, which defines the azimuth angle Ψ of the laboratory vehicle, between the components of the reference vector A in the two three-dimensional coordinate systems there are the following transformation relations:

Ay - A _r • cos'VA? sinT r VV ^A y'r = ^A yr

Ay = A _Y sin Ψ - A ₇ cosT * y * y * y

These relations can be transferred to a matrix equation in which the matrix [ψ] of the azimuth angle with its separate expression is also inscribed:

is defined in the vertical plane of the current location of the vehicle, in relation to two coordinate systems, namely:

9 -07- 2009

- the right coordinate system, Xy, yy, z'y, connected to the vehicle, a system in which the xy axis is oriented in the direction of the longitudinal axis of the vehicle in the horizontal plane of the seat;

- right coordinate system, Xy, yy, zy, system derived from the coordinate system, Xjx, yy, z'y, by rotating it directly, vertically, around the common axis xy = xy, with the pitch angle Θ.

As shown in the vector diagram in FIG. 6, which defines the pitch angle Θ of the laboratory vehicle, between the components, A- ^, A _y ^ and A _z ^, of the reference vector A in the coordinate system, x'y, yy, z'y, and components, Α-φ, Ay ^ and Αφ, of the same vector in the coordinate system, Xy, yy, zy, there are the following transformation relations:

·Γ · = Αγ '

A _y ” _v = Ay ' _v cos0 + A _z ' _v sin Θ

A _z ”= -A _v · -sin © + / l, '-cos © ^z v ^y v ^z v

These relations can be transferred to a matrix equation in which the matrix [©] of the pitch angle with its separate expression is also inscribed:

Fig. 7, from the rotation of the coordinate system, xy, yv, zy, curse its zy axis, in the direct direction, with the value necessary to overlap over its own coordinate system, ^x v, yv> ^z ”', of the laboratory vehicle. In this coordinate system, the zy axis coincides with the longitudinal axis of the vehicle, the yy axis is oriented downwards towards its floor, and the Xy axis is oriented perpendicular to the right side of the vehicle.

As shown in the vector diagram in FIG. 7, which defines the roll angle Φ of the laboratory vehicle, between the components, Αφ, Αφ and Αφ, of the reference vector A in the coordinate system, Χγ -, ^, ζ ”, and the components, Αφ, Αφ and Αφ, of the same vector in the coordinate system, there are the following transformation relations:

9 -07- 2009

Ay - = Ay -οοβΦ + ^ ν »-βίηΦ

V ν

Ay = -Ay · sin Φ 4/1, -οοβΦ ^y V ^x y Xy

These relations can be transferred to a matrix equation in which the roll angle matrix [φ] with its separate expression is also inscribed:

Αγ V ^Γ ΟΟβΦ βίηΦ 0 ' Af ^x y Λ ' V A * and _v - -5ΐηΦ οοβΦ 0 • = [Φ]. V Ay v _ 0 0 1 A ' L ν Ζ _ζ 1 ν J

(3)

B. Defining the laying angles Ψ (^ and 0q of the camcorder.

In order to obtain a precise positioning of the landmark of interest in the field, it is necessary to aim it with the video camera, from two different points of the route, to be carried out from as many viewing angles as possible. For this reason, it is avoided to mount the video camera in a position where its optical axis overlaps on the direction of movement of the laboratory vehicle, respectively on the longitudinal axis of the laboratory vehicle. Practically, for each type of field application of the equipment, an appropriate set of fixed and rigorously determined values of the rotation and inclination angles of the optical axis of the video camera in relation to the own coordinate system of the laboratory vehicle is established.

4. The angle of rotation of the optical axis of the video camera represents, as it results from fig. 8, the angle at which the coordinate system, xy, yy, zy, of the laboratory vehicle

VL is rotated directly in its horizontal plane around its vertical axis yy, with the value necessary to bring its Xy axis in the vertical plane in which the viewing direction of the video camera is arranged. Considering that before performing this rotation, the coordinate system, xy, yy, zy, of the vehicle coincided with the coordinate system, the CV video camera, by this rotation with the angle * ⁿ J ^uru l axis ^Ξ Te> a new ^is obtained for the camera coordinate system, Xy, y'y, z'y.

As shown in the vector diagram in FIG. 8 which defines the angle of rotation of the optical axis of the video camera CV, between the components, A _xc , A _yc and A _zc of the reference vector A in the coordinate system, Xc, yc> ^z C 'and the components, A ^ , A _y > _c and A _z ' _c , of the same vector in the coordinate system, x'c, yC' ^z C> there are the following transformation relations:

4 '87 - 2009 = A _x cosΨ., - A ₇ - sin Ψ., ^X CC ^Z C ^c

V ^sinT c ~ ^A ^ _C ^cosT c ^z c

These relations can be transferred to a matrix equation in which the matrix [ψ ('] of the angle of rotation of the video camera with its separate expression is also inscribed:

COS ^ F

O sin Ψ.

-8ΐηΨ _σ

O cosT „(4)

5. The angle of inclination & c of the optical axis of the video camera CV represents, as it results from fig. 9, the angle at which the coordinate system, x'c, yc, zc, of the video camera is rotated in a direct direction, in its vertical plane around its horizontal axis X (j, with the fixed mounting value set for aiming the selected objectives By this rotation, the coordinate system, ^Z C> ^{is a <} ^ ^us ' ⁿ the final position occupied by the video camera in relation to the laboratory vehicle, position marked by the coordinate system, xf, y ”c7c ·

As shown in the vector diagram in FIG. 9, which defines the angle of inclination Θθ of the optical axis of the video camera CV, between the components, A _x p, A _y p and A _z > _c , of the reference vector A in the coordinate system, XQ, yQ, z ' c, and the components, A _x ^,

A _{y c} and A _{z c} , of the same vector in the coordinate system, xc, y ”c, zf, there are the following transformation relations:

A _Y · = A _Y 'cc ^A y'c ^{= A} y'c' ^Cos0 c + A ' _c ^sin ®c

A _z 'c = ~ Ay _c sin ®c + ^ z ^f _c * cos®c

These relations can be transferred to a matrix equation in which is also inscribed the matrix [0 _C ] of the angle of inclination of the CV video camera with its separate expression:

O O cos0 ^ sin ®c -sinUf cos0f;

(5) ^ -2009-00577- 2 4 2009

C. Defining the deviation angles, ψ _ρ and â _p , of the target direction in relation to the direction of the central axis of the video camera CV

Due to the fact that the aiming of a field target is performed by the CV video camera from different viewing angles, the direction of its central optical axis does not generally coincide with the direction of the target in relation to the objective of the video camera. For this reason, the definition of the target direction is performed, in the manner shown in fig. 10, through the deviation angles ψρ and 3 _p with which the central optical axis zq must be rotated in relation to the horizontal and vertical plane of the coordinate system, respectively, X (^ y (Ț ^z C, of the video camera. In the same diagram in fig. 10, also presents the way in which the positioning of the target image in the plane of the CCD sensor of the video camera is performed, as well as the way in which this positioning of the target is defined according to its coordinates in linear dimensions or pixels within the system. of the rectangular coordinate of the CCD sensor.

To establish the calculation relations of the linear coordinates of this image of the target, in fig. 10, the following notations were also introduced:

a, b- the linear dimension of the side “a” and “Z>” of the CCD sensor, respectively;

N _a , Ni, - the number of pixels on the “a” and “Z>” side of the CCD sensor, respectively;

n _x , n _y - the pixel coordinates of the pixel Τ 'marking the target T on the surface of the CCD sensor;

d _x , d _y - the linear coordinates of the pixel Τ 'marking the target T on the surface of the CCD sensor.

Determining the pixel coordinates of the target image is based on the use of a detection procedure that involves the operator performing a "click" with the mouse of the computer system on that image in the sequences in which it appears on the monitor screen. With the notations introduced above, the ratios of transforming the coordinates into pixels of the T pixel corresponding to the target, into the linear coordinates of the same T pixel that positions the target on the surface of the CCD sensor, are the following:

d _x ~ —- a; d _v = - ^ - b (6) ^and N _b

Depending on the linear coordinate d _x of the target image, as well as the focal length of the camera lens, it can be determined, as shown in fig. 11a, expression of the horizontal deviation angle ψ _ρ of the target direction:

ψ _ρ = ar etan— (?)

4 -ο? · Ζϋΰδ in the same way, depending on the linear coordinate d _y of the target image, as well as the same focal length in front of the camera lens, can be determined, as shown in fig. 11b, the expression of the deviation angle & _p in the vertical plane of the target direction:

n ^d y = ar etan. - ^J --- (8)

D. Integration in the calculation system of the deviation angles, ψ _ρ and & _p , of the target direction.

in defining the deviation angles, y / _p and, it is taken into account that in the situation where these angles have a zero value, the coordinate system, x _p , y _p , z _p , of the target coincides with the coordinate system, ^x c , yc, zc, to the CV video camera

6. The angle of deviation on the side ψ _ρ of the direction of the target is obtained, as shown in fig. 12, by rotating in a direct direction the coordinate system, ^x C, yc, ^z C, of the video camera CV, in the horizontal plane, around its vertical axis yc sy _p with the value necessary to bring the central axis of aiming xc in the plane vertical of the target, position marked by the coordinate system, x'p, y ' _p , z'p.

As shown in the vector diagram in FIG. 12, which defines the angle of deviation on the side y / _p of the direction of the target, between the components, A _Xp , A _y and A _Zp , of the reference vector A in the coordinate system, x _p , y _p , z _p , and the components, Α _χ · _ρ , A _y > _p and A _z ' _p , of the same vector in the coordinate system, x' _p , y'p, z ^, p, there are the following transformation relations:

^Z P = A _Xp -cosy / _p -A _Zp - sin y / _p = A _y ^y p = A _Xp sin y / _p + A _Zp cozy / _p

These relationships can be transferred to a matrix equation in which the matrix [ţ / p] of the lateral deviation angle of the target direction is also inscribed:

'< ^A y'p = A'p.

COSl / fp 0 sense / _p

-sinț / p 0 cos y / p

V ^A y _P ^Az P ^x c ^Z CJ (9)

4 -07- 2D09

7. The vertical deviation angle & _p of the direction of the target is obtained, as shown in fig. 13, by rotating in a direct direction, in the vertical plane, the coordinate system, x'p, y'p, z'p, around its horizontal axis x ' _p with the value necessary to bring the central optical axis of the video camera CV in the direction of the target, position marked by the coordinate system, x ”p, y” pz ”p.

As shown in the vector diagram in FIG. 13, which defines the angle of vertical deviation of the direction of the target, between the components, Ay ?, Ay? and Ay _p , of the reference vector A in the coordinate system, x'p, y'p, z ' _p , and the components, A x'p

and Ay? , of the same vector in the coordinate system, there are the following transformation relations.

^A x = ^A x '

P P

A _v - -Ay -cos ^ p + A _Z '-s'm <9 „

A _z '= -Ay - sin J? _p + A _z '-cos ^ L

P ^J P ^F P ^F

These relations can be transferred to a matrix equation in which the matrix of the vertical deviation angle & _p of the target direction is also inscribed:

^A Xț ^A y _T a ₇ _

a

O cos <9p 0 -sin ^ p

(10)

E. Defining the absolute positioning angles of the target,, & _τ , Φγ,.

in addition to the relative coordinates and positioning angles of the targeted targets, relative coordinates defined above in relation to the coordinate system of the video camera C.V. and with the VL laboratory vehicle coordinate system, respectively, in order to ensure the positioning of these targets and in the absolute coordinates necessary for their inclusion in GIS-type geographic information systems, the absolute angular coordinates by which it is established directly shall be further defined. the direction of the targets in relation to an absolute coordinate system whose horizontal axis zy is oriented in the direction of the local magnetic meridian and whose origin is related to the current position of the laboratory vehicle. These

Absolute <2 009-00577-2 4 2009 absolute angles of positioning of the targets are: azimuth angle Ψ /, elevation angle ®ț and roll angle Φ- /, angles which are defined as follows:

8. The absolute azimuth angle of the target is the current angle between the direction of the local magnetic meridian N and the direction Zy, which is oriented towards the target in the horizontal plane of the field. This direction is obtained, as shown in fig. 14, by rotating in the direct direction, in horizontal plane, the absolute coordinate system, xț /, jy, zjz, around its vertical axis jy with the azimuth angle Ψ7 ·, the new position being marked by the coordinate system, xy, yy , zy.

As shown in the vector diagram in FIG. 14, which defines the absolute azimuth angle of the target Ψ; between the components, A _x ^A y _v * of the reference vector A in the coordinate system, xy yy, zy, and the components, A _x v 'of the same vector in the coordinate system, xy, yy, zy, there are the following relations transformation:

A _x = A _X and COS Ψ; ~ Azy S * ^{9 * 11} ^ 7

A _v = A _V yy yy

A _Z y, = A _x ^ · sin Ψ _Γ + A _z ^ · cos

These relations can be transferred to a matrix equation in which the matrix [[; ] of the absolute azimuth angle of the target Ψ7 concerned:

A _x , Xy, COST; 0 -sin Ψ; A _x ^x y A ^A and yy ₌ 0 1 0 - A yy = [·Τ ·] · Ay yy A _z L v _ sin Ψγ · 0 Costa ^ A _z L v _ A L v J

(Π)

9. The absolute elevation angle of the target is, as shown in the vector diagram in FIG. 15, the angle at which it is rotated about its horizontal axis Xy, the coordinate system, xy, yy ’, zy, with the value by which the axis overlaps

Zy, on the aiming direction of the target from the L location of the video camera, the new position being marked by the coordinate system, xy, yy, zy.

As shown in the vector diagram in FIG. 15, which defines the absolute elevation angle of the target, between the components, A _x ^ _t , A _y ^ _t and A _z , of h -07- 2009 of the reference vector A in the coordinate system, xy, yy, zy , and components A

A _y and> of the same vector in the coordinate system, xy, yy, z _v ·, there are = A, ^x y = A _y -cos + A _Z y _t sin © 7 = -A _y 811107 + Az _v , COS © 7 the following transformation relationships:

Λ ^x y

A _v ^y V '

Λ ^z y

These relations can be transferred to a matrix equation in which the matrix [Θ ^] of the absolute elevation angle of the target is also inscribed:

A _x . xy " '1 0 0 V - [Θ7] · · ^Ν · A _v yy ' - 0 COS © 7 sin © 7 ^A and _v . ^A > r A ^z y ” 0 -sin 07 COS 07 ^Az v - ^Az v ·.

(12)

10. The absolute roll angle Φ / of the target represents, as shown in the vector diagram in fig. 16, the angle to be rotated about its axis of sight z _yr, the coordinate system xy, yy ', zy, the target's necessary to superimpose the absolute system of coordinates over the system cord Χγ ^ τ, ζ _τ , of the target determined in the previous phases in relation to the coordinate system, xc>yc> ^z C as a ^{result of} this rotation with the roll angle Φ; , the absolute coordinate system, xy, yy, zy, of the target is finally obtained.

As shown in the vector diagram in FIG. 16, which defines the absolute roll angle Φτ of the target, between the components, A _x ^, A _y ^ _t and A _z ^ _n , of the reference vector A in the coordinate system, xy, yy, zy, and the components , A _x

Λ ^z y, of the same vector in the coordinate system, xy, yy, zy, there are the following transformation relations:

A _Y = A _Y οοβΦγ + A _v · sin Φ _τ

XprW Xyff 1 Z JZ * * ^A yy ⁼ ~ ^Ajc y W ^ T + Ayy A _z = A _Z ^z y ^z y

These relations can be transferred to a matrix equation in which the matrix [φ /] of the absolute roll angle Φτ of the target is also inscribed:

if -07- 2009 ^A xț

Ayr

A _zp

cosOy sin Φτ 0 ^Ax y ^Ax y -sinOy- cosOy 0 • ^A and _V - [ ^φ τ] · ^Ă yy 0 0 1 A _z A _z l_ _J ^z y Zy "

(13)

F. Integration in the calculation system of the absolute position angles, Ψτ, & τ, Φτ, of the targeted targets.

The method for determining, according to the invention, the absolute position angles, Ύ _Τ , Θ _Τ , Φ _Τ , of targets located at great distances from the laboratory vehicle is based on the calculation by calculation of the values of these angles on the basis of angular values of rotation, measurable in directly of the vehicle-related coordinate systems by the successive rotation of which overlap in the direction of the target. Establishing the calculation relationships with which to determine the absolute position angles, Ψ /, Θχ-, Φ /, of the target involves the following steps:

a. Correlation of matrix relations (1), (2), (3), (4), (5), (6) and (7), after which the following matrix equations are obtained successively:

^A yfr ^A zțr ^A zfy

-MMfoHTcH · »] HM

(A) where the notations used have the following meanings:

^ ρ, Ψρ ~ angles of deviation of the direction of the target from the direction of the central axis of the video camera, angles which are calculated by means of relations (6), (7) and (8), on the basis of the plane coordinates of the pixel corresponding to the target in CCD sensor plane. In turn, these pixel coordinates corresponding to the target are established, either by using the operating method based on the mouse typing of the target image calculation system on its monitor screen, or by using a touch screen monitor;

4 -07- 2009

- Θ (- ;, - the laying angles of the video camera on its mounting platform on the hood of the laboratory vehicle; the values of these angles (when the continuously adjustable version is not used) are usually established during installation;

- Φ, Θ and Ψ - the position angles of the laboratory vehicle determined by the Inertial Measurement Unit - IMLJ;

- Αχρ, Ayy, A _Zv , represent the unitary verses of the respective coordinate axes.

b. On the other hand, by correlating the matrix relations (8), (9) and (10) the following matrix equations are obtained successively:

matrix relation for the calculation of the absolute position angles, Ψρ, Θτ, Φτ, of the target in relation to the point where the camera lens is arranged:

ΜΦτΉθΤ’ΓΙΨζ ’] · or:

K] · W · [®c] ftc] · [Φ] · [®] Μ = [®7 ·] [®r] k /] (C)

The notation is adopted:

k 1M i®c] kc] · [«] [®1- kl =« 11 «21« 12 «22« 31 «32« 13 «23« 33 _ (11) and calculate the corresponding coefficients, αχ 3 .. // 33, based on the values, measured directly, of the angles on the left side of this matrix equation.

Next, the product of the matrices corresponding to the absolute angular coordinates of the target is performed:

0Ο8Φ- / [Φγ] · [®γ] · [Ψγ] =

-βϊηΦτsin ¢ 7- 0 οο5Φγ 0

0 cos0y

-sin © / -

0 cos4 ^J and 0 -βίηΨγ βΐηΘγ- • 0 1 0 COS07 5Η1Ψτ- 0 COST / -

* 11 άχ ₂ 0χ ₃ = * 21 * 22 * 23 _ * 31 * 32 * 33_ where the notations were used:

cV- 2 Ο Ο 9 - Ο Ο 5 7 7 - 2 4 -07 “2009 / ¾] οο8Ψ; · CosO / T sin Ψτ ’-sin Θχ- · sin Φχ-;

/> 12 ⁼ cos0y-sinΦγ ·;

/> 13 ^ -sin Ψγ -ΟΟΒΦγ Τ ΟΟβΨ; · Sin 0y -sin Φγ;

Ζ> 2ΐ = -cos Ψ _Γ - sin + sin T ^ -sin 0ycos0; ;

^ 22 = COS0y COSOy;

/> 23 = sin Ψ; · Sin Φτ + cosTț- · sin 0; · Cos0y;

Z> ₃₁ = sin - cos07;

/ »32 = -sin 0; ;

Z> 33 = cosTy -cosOy.

From the equivalence of the terms corresponding to the two identical global matrices:

the ^a 12 ^a 13 * u b \ 2 * 13 ^a 21 ^a 22 ^a 23 - * 21 * 22 *2. 3 , ^a 31 ^a 32 ^a 33_ the * 32 * 33.

finally obtain the calculation relations of the absolute angular coordinates of the target set from the location of the laboratory vehicle at that time, in the form:

tan ^ Py- ^ lL · sin ©; · --a ₃₂ ; tan0 / '= ^^ - (12) a ₃₃ a ₂₂

Π. The group of calculation relations used to determine the position of the target T in the horizontal plane of the reference ellipsoid.

Within the second component of the calculation algorithm is determined the position of the target T in the horizontal plane of the reference ellipsoid, by combining the determinations of absolute angular coordinates,, θτρΦ ^ and,, 0y ₂ , Φ, respectively; ₂ , of the target, determinations and calculations performed according to the methodology related to the first component of the calculation algorithm, for two different positions, Q and C ₂ , respectively, of the video camera, positions resulting from the movement of the laboratory vehicle with a distance within which the target T it stays in the field of view of the camcorder.

In order to establish, on this basis, the calculation relations of the absolute position coordinates of the target T, the positioning scheme presented in fig. 17, in which the following notations were introduced:

λ \, φγ and - the geographical coordinates, longitude and latitude, respectively, provided by the GPS receiver for two successive aiming positions, Q and respectively, of the video camera;

λ _τ , φτ - the geographical coordinates of longitude and latitude, respectively, of the target;

^, «2 and ^ 2 the linear distances corresponding to the angular differences of longitude, ΔΛ ^ γ-, Λ / ί] ^, and of latitude, Δ (Ρζ ₂ , Δφιτ of the target, respectively, as follows:

. ^{= _} Λ Δφ \ τι ^{= (} Ρ2-'ι '> a <pi, t ^{= (} Pr- <P2', (13)

When calculating the linear distances, P ^{is the} direction of longitude and latitude, respectively, between the successive positions of the video camera and respectively between them and the target, but it is also taken into account that the stereo-photogrammetry system, according to the invention, allows aiming are located at distances of up to 200 - 300 meters from the laboratory vehicle, so that the hypothesis of approximating the globe with a sphere equivalent to the radius R = 6367,472 km can be adopted.

Thus, based on the scheme of FIG. 18, which shows how to position a target on an equivalent sphere of the globe, the above-mentioned linear distances can be calculated based on differences in angular coordinates using a set of equations of the form:

Ayj-ΠΠττΠΠ 1 a \ țnetri \ = rțmetri] - for distances in the direction of longitude λ;

360 x 60. Λ [«ίβΖτζ] - for distances in the direction of latitude φ;

360x60 where: r = R- cos ^ z. (14)

It should also be noted that in order to achieve a high-precision positioning, in geographical coordinates, of the targeted targets, it is necessary to take into account the fact that, as shown in fig. 2, the z ^ axis of the video camera coordinate system

C.V. is displaced from the z ”axis of the laboratory vehicle V.L., along its x” axis, on the mounting platform PI., with the mounting distance “m” between the GPS antenna and the C.V. video camera.

For this reason, the geographical coordinates,, (f \ _v and λχ _ν , (Pty, ^which are provided directly by the GPS system for the GPS antenna locations, differ from the geographical coordinates, and  ₂ ,, corresponding to the two successive positions of video camera,

4 -07 “2009 so that the latter, in situations where the requirements for maximum accuracy so require, must be corrected by the values:

.. r · i 360 x 60 x mimetrilx cosTi. r - i 360x60x / ni / wcVr / lx sin Ψ>

ΔΛ _Τ [imn] = -----— ¹¹ ; Δ ^ [mm] = --------- ^L ^ - * ----- ^L (15) ^m 2itf? Xcos ^ ^m and respectively:

. „R · i 360x60xi» [we / r7 | xcosT9. r · i 360 x 60xm \ meters] xsîn ^v f ^, j ⁼ ----- 77 / --- ^J ; ^A ^ l ^m) n] = -------- T—- ^JL (16).

^m 2tu <xcos (P2 2π / \

Taking into account these calculation hypotheses, from the scheme presented in fig. 17, in which the two positions are highlighted, Cț and C ₂ , from which the target T is targeted, results the following expressions for its corresponding azimuth angles, Ψη and Ψγ ' ₂ respectively:

tan Ψ _Γ = ---------- cosl02 + Δ <ζ> 2 τ) '> tan = —— cosuz> 2 + Δ ^ τ)

Δ <ζ> ΐ2 + Δφ ₂ , τ '' Δ <Ρ2, Τ

From these two expressions the following implicit relation of calculation of the angular difference of longitude j is obtained ^:

Δφχ ₂ tan Ψ /, + ΔΛ ₂ · cos (% + \ φ _1τ )

Τ —----------------------------- ίΗηψ / ₂ -ίΗηΨη and below: = (ζ> 2 + Δ ^ 2 7 '(17)

The value determined in this way the angular difference Δ <^ τ> ^can now calculate the latitude and the angular difference T one of two relationships explicit calculation:

Δ ^ y = --- f ¹ --- v- (δ <ζλ ₂ + Δ <ρ ₂ τ)> ^or cos (^ 2 ⁺ ^^ 2, TJ tanTru ț ---- r ----- ----- Δ ^ 2 t 1 - t 2 and ⁿ as: λτ = Λ ^ + ΔΛι τ. (18) 'Ăfih COSleh + τ)

From the above equations it is observed that the coordinate differences of the target, ΔΛ j _T and Δ (ρρ τ> ^no P ^ot 6 determined when there is a relation between the azimuth angles:

·Γ · = Ψ / ' ₂ . This situation occurs when a single video camera oriented in the direction of travel of the vehicle is used, and the target is kept in the vertical plane of the camera throughout the movement of the laboratory vehicle.

However, after obtaining in the presented way the angular coordinates, 2y and ςο / ·, of the target, we can still calculate the linear distances marked in fig. 17 namely: αγ, and h -07- 2009

1 \, bi, in the direction of longitude and latitude, respectively, between the successive positions of the video camera and respectively between them and the target, with the relations:

ΔΛΙ'7 '_ „ÎZi = ------- 2 ^ -K-COSfi> r ¹ 360x60 ¹ 2λι 2; α ₂ = ---- ^! --2k-R-cos <pt; 360 x 60 \ = M, 2 _{2π r} ¹ 360x60 Δβλι 7 '; b ₂ = -Ίπ-R. (19) 360x60

On this basis, the direct distances between the target T and the positions, Q and C ₂ , of the two video cameras can be calculated using the relations:

C {T = + (/ ^ + ¾) ² șj _ ^ (α ^ + αιΥ + Z » ₂ (2θ)

Also, according to the scheme shown in FIG. 19, the height h of the target T can also be calculated in the horizontal plane P.O. of the reference ellipsoid, with one of the relations:

hf = hc _x + € \ T tan ΔΘ'η or: hp = Ăc ₂ + C ₂ T · tanA © ^ (21) in which the relations were introduced: ΔΘ ^ = - Θ]; ΔΘ / ₂ = Θγ ₂ - Θ ₂ , where the pitch angles, Θ] and 0 ₂ , of the laboratory vehicle are determined directly by the Inertial Navigation System - INS.

In conclusion, it is considered that the main advantage of the system and method according to the invention is that by increasing the basic distance between the locations of taking two successive images of the same target, the distances measurable to that target are practically increased several times, if the usual values of the measuring distances applicable to stereometry systems based on the use of pairs of video cameras are taken into account. In the case of the single-camera system according to the invention, the measurable distances to the target are mainly limited only by the resolution of the optical objective of the video camera. The fact that in this case, on the screen of the control monitor, instead of two adjacent images, a single image will be formed, which will thus present a higher resolution.

Increasing the measuring distance of the single-chamber stereometry system to values of the order of 200-300 meters, makes this system competitive for optical topometry equipment, type "total stations", especially if mobility is also taken into account. which has the onboard stereometry system.

Claims (2)

claims 1. Mobile system for applying a procedure for mapping targets located at great distances from road arteries, characterized in that it uses a laboratory vehicle (VL) on the hood of which a platform (Pt.) Is arranged on which a video camera (CV) at precisely determined deviation and elevation angles, corresponding to the proposed application, so that its optical objective is oriented towards a side of the laboratory vehicle, next to the video camera, on the same platform, and respectively on the longitudinal axis of the laboratory vehicle is arranged an antenna (Ant. GPS) of a receiver (GPS) with double frequency, (LI) and (L2), and in an operating compartment arranged inside the laboratory vehicle is located the receiver (GPS ) connected by a close coupling with an Inertial Navigation System (INS) via a SPAN (Synchronous Position, Attitude and Navigat ion) interface element, and a calculation provided with a system of compression and storage of purchased video images. Accurate real-time geographic positioning system with which the mobile system according to claim 1 is provided, characterized in that, in order to ensure the necessary accuracy for mapping targets located at long distances from road arteries, it uses the RTK positioning method (Real Time Kinematic) by connecting the dual frequency GPS receiver to a National Network of Permanent Stations GNSS (Global Navigation Satellite System), such as ROMPOS, which provides the differential correction data needed to improve the user's positioning accuracy, respectively by connecting to the calculation of both the GPS receiver and a mobile phone with GSM / GPRS / CDMA operation and with the ability to connect to an Intemet network that ensures the connection of the mobile unit (rover) with the reference base station. 3. A process for mapping targets located at great distances from road arteries, characterized in that, in order to achieve the rapid geographical positioning of targets or their components, provided that they are at great distances from the roads; access (buildings, landmarks) or are directly inaccessible, (dams, bridges, tailings dumps), from a continuously moving laboratory vehicle (VL), successive image captures are automatically performed in the area target with the help of a digital video camera (CV) whose trigger is controlled by a high-performance receiver (GPS) also mounted on the laboratory vehicle, which allows each image acquired to be marked and stored in the memory of a computing unit with the geographical coordinates of the point where the vehicle is at the time of taking the picture, together with 2 h -O? 2009 the values it presents at the time the camera is triggered, the absolute angles of orientation in space, both of the video camera and of the laboratory vehicle, values that are provided by an inertial navigation unit (INS) coupled as a support element for receiver (GPS), so that on this basis it is possible that on returning to the computer center, from the purchased images to select two images that do not necessarily have to be successive, but in which the objective of interest is highlighted in a properly allow it to be selected electronically and to determine the coordinates of the pixels that display the lens on the monitor screen, these coordinates together with the other data accompanying the two selected images, allowing them to be calculated by triangulation and reporting to the system. spherical coordinates of the ground coordinates, the geographical and elevation coordinates of the target. 4. Method for positioning targets located at great distances from road arteries, characterized in that it involves performing a sequence of determinations and automatic data acquisition, as well as implementing a calculation algorithm corresponding to the configuration adopted for the positioning equipment according to the invention , a process consisting of two main components: a) a component of the measurements and calculation algorithm which determines the values of the absolute position angles (ψγ, Θγ, Φγ) of a target (T) in relation to the point where the video camera (CV) is at the moment which image was purchased; b) a component of the measurements and calculation algorithm by which the geographical coordinates of the target (T) are determined, in latitude and longitude, in the horizontal plane of the reference terrestrial ellipsoid, by applying triangulation procedures to the position angle values; and respectively by azimuth, and ^a ^ ^e b ^nte 'CD »angles determined in relation to the North (N) direction of the local magnetic meridian and corresponding to two different positions, (Pos.1) and (Pos. 2) of the laboratory vehicle ( VL) A first component of the method of positioning targets located at great distances from road arteries, according to claim 4, a component in which the values of the absolute position angles (ψγ, Θ ^, Φ /) of a target (T) are determined. targeted in relation to the point where the video camera (CV) is at the moment when the respective image was acquired and which is characterized by the fact that it consists of the following stages of determinations and calculations: 2 4 -07 “2009 a) acquisition of the values of the absolute angles of azimuth (Ψ), pitch (Θ) and roll (Φ) of the laboratory vehicle (VL), values determined in the horizontal plane of the reference terrestrial ellipsoid and supplied continuously by a Unit of Inertial Navigation - (LN.S.) installed on the laboratory vehicle (VL); b) establishing, for each type of field application of the equipment according to the invention and depending on the type of targets to be positioned, an appropriate set of mounting values, fixed and rigorously determined, of the laying angles, in rotation ( Ψ ^;) and respectively in inclination (Θ ^), of the optical axis of the video camera (CV) in relation to the own coordinate system (xy, yy, zy) of the laboratory vehicle; c) establishing, in post-processing mode, respectively after the completion of the field data acquisition, the deviation angles, lateral (ψ _ρ ) and vertical (S _p ), of the target direction (zț) in relation to the axis direction optical center (zq) of the video camera, using for this purpose a calculation algorithm that allows the determination of the values of these angles based on the rectangular coordinates, in number of pixels, (w _x ) and (n _y ), of the pixel (Τ ') marking the target (T) on the sensor surface (CCD) of the camcorder, provided that these coordinates are determined by a detection procedure which involves the operator performing a "click" with the mouse of the computer system on that image of the target in the sequences in which it appears on the monitor screen; d) the integration of the deviation angles, (ψρ) and («9 ^), of the target direction into the general coordinate system, taking into account that the lateral deviation angle (ψ _ρ ) of the target target direction is obtained by rotating in direct direction of the coordinate system (χ ''>Ϊ'Ά) of the video camera (CV), in the horizontal plane, with the value necessary to bring the central aiming axis (x £) in the vertical plane of the target and the angle of deviation on the vertical («9 ^) of the target direction is obtained, by further rotating in the direct direction, in the vertical plane, the new coordinate system (x _p , y _p , z _p ) resulting, around its horizontal axis (x ^ ), with the value necessary to bring the central optical axis of the video camera (CV) in the direction of the target; e) the definition of the absolute angles of positioning of the target, namely the angle of azimuth (Ψ7), the angle of elevation (Θ7) and the angle of roll (Φ /), angles by which the direction of the targets is established, directly, in relation with an absolute coordinate system c V- 2 Ο Ο 9 - Ο Ο 5 7 7 - 2 4 -07 2009 whose horizontal axis (zy) is oriented in the direction (N) of the local magnetic meridian and whose origin is related to the current position of the laboratory vehicle (VL), further ensures the possibility of registering these targets in Geographic Information Systems (GIS); f) integration in the calculation system of the absolute position angles, (Ψγ), (& p) and (Φ / ·), of the targets which, being located at distances that cannot be accessed by the measuring equipment installed on the laboratory vehicle (VL), this integration is achieved by determining by calculation the value of these absolute angles, based on the angular values of rotation, directly measurable, of the coordinate systems related to the laboratory vehicle (VL) and the video camera (CV) respectively, coordinate systems by which successive rotations overlap in the direction of the target, the actual determination being made by matching the product ([Φ7 '] · [Θ / ·] - [ψγ ·]) of the matrices defining the absolute angles, (Ψ7), (0 ₇ ) and (Φ /), of the target, on the one hand, with the product, in direct succession, ([<9 ^] - | ț / p] [0cl · ITcM ¹ ®] · f ®] * [ψ]) matrices defining the position angles (Ψ), (0) and (Φ) of the laboratory vehicle (VL), the mounting angles (Ψ ^) and (© c) of the video camera (CV) and of the deviation angles (ψρ) and («9p) of the target direction in relation to the optical axis of the video camera, and finally, by matching the corresponding elements in the two matrices resulting from the respective products. A second component of the method of positioning targets located at great distances from road arteries, according to claim 3, the component in which the position of the target (T) is determined in the horizontal plane of the reference ellipsoid, by combining the coordinate determinations angle absolute (Ψη, θη, Φη) and _(Ψ Γ © Γ Φ Γ) of the target subject, determinations and calculations carried out according to the methodology relating to the first component of the algorithm for calculating, for two different positions Q and C2 respectively of the chamber video, positions resulting from the movement of the laboratory vehicle with a distance which is the basis of measurement (BM) within which the target (T) is maintained in the field of view of the video camera and which is characterized in that it consists of the following stages of determinations and calculations which are carried out taking into account also the fact that the single-camera stereo-photogrammetry system, according to the invention, allows of targets that are located at distances of up to 200-300 meters from the laboratory vehicle, so that the hypothesis of approximating the globe with an equivalent sphere (radius R = 6,367,472 km) can be adopted: 2 4 -07- 2009 a) determining, by applying a triangulation calculation method, the geographical coordinates of longitude (λτ) and latitude (</> / ') of the target (T), based on values (^, ^) and geographical coordinates, longitude and latitude, provided by the group consisting of a receiver (GPS) and an Inertial Navigation System (INS) for two successive aiming positions, (Q) and (C ₂ ), respectively, of the video camera (CV), as well as and the values of the angles of azimuth (Ψ / y) and (^ 7 ^) ^{N is} the target, values determined in accordance with point f) of claim 5 the process according to the invention, for the same two successive positions of the target (C) and (C ₂ ); b) determining, by applying a method of triangulation calculation, in the longitudinal direction, the linear distance («,) between the aiming position (Q) and the target (T) and the linear distance (a ₂ ) between the aiming positions (Q) ) and (C ₂ ), and in the direction of latitude of the linear distance (Z> i) between the aiming positions (Q) and (C ₂ ), as well as the linear distance (b ₂ ) between the aiming position (C ₂ ) and target (T), based on the values of the geographical coordinates of longitude (λρ) and latitude (ψτ) of the target (T), determined according to point a) of this claim, and the value (R) adopted for the radius of the equivalent sphere of the globe land; c) determining, by applying a triangulation calculation method, the direct distances, (Cj7) and (C ₂ T), between the target (T) and the aiming positions (Q) and (C ₂ ), respectively, on the basis of linear distances («|,« ₂ ) and (byb ₂ ), in the direction of longitude and latitude, respectively, between the aiming positions and between them and the target; d) determining, by applying a triangulation calculation method, the height (A) of the target (T) from the horizontal plane (PO) of the reference terrestrial ellipsoid, based on the values of the direct distances, (QT) and (C ₂ T ) between the target (T) and the aiming positions, (Q) and (C ₂ ), respectively, of the values of the elevation angles (0 / ț) and () of the target, values determined according to point f) of claim 5 of the procedure according to the invention , and on the basis of the values of pitch angles, (0j) and (0 ₂ ) of the laboratory vehicle (VL) which are determined directly, for the same two successive aiming positions, (Q) and (C ₂ ), respectively, of to the Inertial Navigation System (INS) installed on the vehicle.