WO1999024846A1 - Verfahren und vorrichtung zur ermittlung von messzeiträumen für die vermessung von von sichthindernissen zumindest teilweise umgebenen punkten mittels satelliten - Google Patents
Verfahren und vorrichtung zur ermittlung von messzeiträumen für die vermessung von von sichthindernissen zumindest teilweise umgebenen punkten mittels satelliten Download PDFInfo
- Publication number
- WO1999024846A1 WO1999024846A1 PCT/EP1998/007228 EP9807228W WO9924846A1 WO 1999024846 A1 WO1999024846 A1 WO 1999024846A1 EP 9807228 W EP9807228 W EP 9807228W WO 9924846 A1 WO9924846 A1 WO 9924846A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- satellite
- obstacles
- measurement
- point
- satellites
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Definitions
- the invention relates to an apparatus and a method for the automatic determination of obstacles to view of satellites and measurement periods for location determination with GPS or GLONASS satellites or both satellite systems together on points with restricted sky freedom.
- the invention is also suitable for ascertaining obstructions to the view of any satellite if the orbital data of which is known. This applies in particular to radio and telecommunications satellites that are located in geostationary orbits.
- the local metrological recording of the shadowing and the planning of the measuring times is disproportionately complex in comparison to the actual GPS measurement. This effort is no longer worthwhile for quick measurements (e.g. with GPS-RTK); a measurement is often simply attempted here, u. This may also happen several times at different times of the day, or GPS use is dispensed with and conventional techniques are used.
- the object of the invention is to automatically recognize the obstacles in the field in order to be able to immediately calculate the satellite availability (measurement periods), with as little interactive assistance as possible from the user. Solution of the task
- the invention proposes an apparatus and a method for determining measurement periods for the measurement of points by means of satellites, the points being at least partially surrounded by obstructions which limit the constant availability of navigation or measurement satellites.
- a digital recording device for example a digital camera, first takes a picture of the sky detecting the obstacles from the point to be measured into the sky. It is possible to use a single digital camera, which then has a so-called fisheye optics. However, it is also conceivable to take the picture by means of several digital cameras. It is crucial that the recording device itself has a relatively large opening angle of in particular at least 150 ° in order to reliably record the surroundings around the point to be measured.
- the recording device is provided with a light-sensitive sensor (for example a CCD chip) which has a large number of individual light-sensitive pixels.
- the captured image is read from this sensor and fed to a processing unit.
- This processing unit is either an integral part of the device according to the invention or can be connected to it in a simple manner. Based on the output signals of the sensor, it can now be determined automatically or semi-automatically where there are obstructions to the view in the recorded image. Between the obstacles to view and the free areas lines of obstruction of the view can then be calculated. Based on this calculation, it is then possible to distinguish free areas from areas of obstruction.
- the coordinates of the free areas are now used to calculate at least one measurement period within the processing unit or a computer unit that can be connected to this or the recording device, within which a satellite constellation sufficient for the satellite measurement of the point is given.
- a satellite constellation sufficient for the satellite measurement of the point is given.
- the orbital data of the satellites used for the measurement are known.
- DOP values threshold values
- a satellite navigation receiver is provided for the satellite-based determination of the position of the point to be measured or for locating the device.
- an alignment sensor in particular a magnetic sensor, is present for detecting the north orientation of the recorded image.
- Essentially, it is an optical, digital recording system with a large opening angle, which is centered on the point by hand or with a tripod and is aligned with the zenith using a fixed dragonfly, and a connected field-compatible digital computer.
- An approximate north orientation the camera via compass can either be set manually or automatically via a magnetic sensor.
- an automatic astronomical azimuth determination can optionally be implemented for control purposes.
- Algorithms for the last two steps are known.
- the automatic detection of the obstacles to daylight from the digital image is carried out using methods of digital image processing. It is about recognizing the open sky against obstacles (especially buildings, vegetation, mountains).
- the best and all possible measurement periods (times of the day) for the specific point can be proposed immediately, taking into account the satellite positions at the different times of the day.
- Both the digital images of the recorded points and the calculated measurement periods can optionally be saved and printed out for later rescheduling.
- a few necessary input data for a measurement area, which the system needs, can if necessary in the data flow by a connected or integrated GPS / GLONASS navigation receiver.
- the advantages of the invention are less manpower and less time for determining satellite visibility and measurement periods for location determinations on discrete points, high degree of automation of the system, high reliability of the result by minimizing manual activities and immediate visual control of the result - low susceptibility to operating errors, immediate availability of the Results Possibility to archive the digital images as evidence and for later recalculations.
- FIG. 1 shows a schematic representation of the functional groups of an exemplary embodiment of the device according to the invention
- Fig. 2 shows an example of a fisheye image of a point to be measured with the obstacles surrounding it and Fig. 3 shows the situation after the image processing of the recording according to Fig. 2 to determine the line of sight obstacle.
- a digital, optical recording system 11 with a fisheye lens 12 and CCD chip 14, a connected or integrated digital computer 16.
- a simple one Navigation receiver 18 for GPS and / or GLONASS possible in the system (provision of an approximate position, satellite almanac, time).
- a magnetic sensor 20 can be provided for the detection of the north orientation.
- the receiver 18 and the sensor 20 are connected to the computer 16, which in turn is connected to the CCD chip 14.
- the values calculated by the computer 16 are shown on a display 22.
- a keyboard field 24 is used for the manual input of data.
- the digital recording system can consist of a digital camera with a very large aperture angle (fisheye attachment) or a set of several permanently connected cameras, which overall ensure a sufficiently large image section.
- the current standard resolution of commercially available, inexpensive digital cameras from around 800x800 pixels can already be sufficient.
- an opening angle of at least 150 ° is required, which is not normally achieved today. Therefore, the optical sensor must be modified by an optical system (effect like a fisheye attachment) or alternatively a combination of several cameras to cover the entire area to be imaged.
- the software of the invention directs the shadowing mask
- Almanac is calculated taking into account the mask and a given minimum height angle.
- a special calibration of the optical system must be carried out once in order to assign a direction (azimuth / height angle) to the pixel addresses, taking into account the north orientation. Since the accuracy requirements of the directions are low (about 1-3 gons (standard deviation at the horror zone), magnetic direction sensors are sufficient with gross correction because of a refusal.
- the result of the determination can be displayed and stored immediately. This result is virtually independent of time for geostationary satellites.
- the DOP To determine the measurement periods for a measurement or location determination with GPS and / or GLONASS, the DOP
- the output of the measurement conditions (DOP values) at the different times of the day is shown on the system display and, like the digital image, is optionally saved for later printing / further processing.
- the operating input of the system includes, for example: preparation once a week: copying a current GPS and / or GLONASS almanac (e.g. via
- Minimal output display of the permissible and optimal measuring times for the current position in local time with achieved DOP values.
- Pixel address z 0 and s 0 of the main image point chamber constant c of the optical system a mathematical model of distortion, z.
- B coefficients of a polynomial approach
- the fixed rotation angle ⁇ 0 is determined by matching the pixel orientation to the north direction sensor of the device.
- m size of a pixel
- a 0 angle between the north direction of the north direction sensor and the pixel orientation (direction of the columns)
- ß x elevation angle of an object point, to be calculated from the associated pixel Pi
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Recording Measured Values (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU12350/99A AU1235099A (en) | 1997-11-11 | 1998-11-11 | Method and device for determining measuring periods for satellite measurement ofpoints at least partially surrounded by visual obstacles |
JP2000519795A JP2001523006A (ja) | 1997-11-11 | 1998-11-11 | 可視障害物によって少なくとも部分的に包囲された地点の衛星測定のための測定期間を決定するための方法及び装置 |
DE29823699U DE29823699U1 (de) | 1997-11-11 | 1998-11-11 | Vorrichtung zur Ermittlung von Meßzeiträumen für die Vermessung von von Sichthindernissen zumindest teilweise umgebenen Punkten mittels Satelliten |
DE19881685T DE19881685B4 (de) | 1997-11-11 | 1998-11-11 | Verfahren und Vorrichtung zur Ermittlung von Messzeiträumen für die Vermessung von von Sichthindernissen zumindest teilweise umgebenen Punkten mittels Satelliten |
EP98955574A EP1047955A1 (de) | 1997-11-11 | 1998-11-11 | Verfahren und vorrichtung zur ermittlung von messzeiträumen für die vermessung von von sichthindernissen zumindest teilweise umgebenen punkten mittels satelliten |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19749818 | 1997-11-11 | ||
DE19749818.3 | 1997-11-11 | ||
DE19828079.3 | 1998-06-24 | ||
DE19828079 | 1998-06-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999024846A1 true WO1999024846A1 (de) | 1999-05-20 |
Family
ID=26041499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1998/007228 WO1999024846A1 (de) | 1997-11-11 | 1998-11-11 | Verfahren und vorrichtung zur ermittlung von messzeiträumen für die vermessung von von sichthindernissen zumindest teilweise umgebenen punkten mittels satelliten |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1047955A1 (de) |
JP (1) | JP2001523006A (de) |
AU (1) | AU1235099A (de) |
DE (2) | DE29823699U1 (de) |
WO (1) | WO1999024846A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2906632A1 (fr) * | 2006-09-29 | 2008-04-04 | Inrets | Procede de localisation d'un vehicule. |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4687270B2 (ja) * | 2005-06-22 | 2011-05-25 | 日産自動車株式会社 | Gpsロストの予測装置及び車両用走行制御装置 |
CN101943582A (zh) * | 2010-07-02 | 2011-01-12 | 哈尔滨工程大学 | 基于ccd星敏感器与加速度计的惯性导航定位方法 |
DE102011056207A1 (de) * | 2011-12-09 | 2013-06-13 | Sma Solar Technology Ag | Verfahren zum Lokalisieren von eine Photovoltaikanlage vorübergehend verschattenden Objekten |
DE102012013504B4 (de) | 2012-07-06 | 2014-02-06 | Audi Ag | Verfahren zum Betreiben eines satellitengestützten Positionsbestimmungssystems für einen Kraftwagen und Positionsbestimmungssystem |
US10415960B2 (en) * | 2015-04-06 | 2019-09-17 | Worldvu Satellites Limited | Elevation angle estimating system and method for user terminal placement |
US10012503B2 (en) * | 2015-06-12 | 2018-07-03 | Worldvu Satellites Limited | Elevation angle estimating device and method for user terminal placement |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0377078A2 (de) * | 1988-11-23 | 1990-07-11 | TEMIC TELEFUNKEN microelectronic GmbH | Bildsensor auf Halbleiterbasis, insbesondere in CCD-Struktur |
US4970653A (en) * | 1989-04-06 | 1990-11-13 | General Motors Corporation | Vision method of detecting lane boundaries and obstacles |
EP0650071A1 (de) * | 1993-10-21 | 1995-04-26 | Hudson Soft Co., Ltd. | Naturbeobachtungssystem |
US5446465A (en) * | 1993-06-18 | 1995-08-29 | Diefes; Debra L. | Satellite location and pointing system for use with global positioning system |
JPH0989559A (ja) * | 1995-09-22 | 1997-04-04 | Sokkia Co Ltd | Gps受信装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL8900867A (nl) * | 1989-04-07 | 1990-11-01 | Theo Jogchum Poelstra | Een systeem van "beeldmeetkunde" ten behoeve van de verkrijging van digitale, 3d topografische informatie. |
JPH05187819A (ja) * | 1992-01-14 | 1993-07-27 | Mitsui Constr Co Ltd | Gps基準点選定用スコープ |
-
1998
- 1998-11-11 EP EP98955574A patent/EP1047955A1/de not_active Withdrawn
- 1998-11-11 AU AU12350/99A patent/AU1235099A/en not_active Abandoned
- 1998-11-11 DE DE29823699U patent/DE29823699U1/de not_active Expired - Lifetime
- 1998-11-11 WO PCT/EP1998/007228 patent/WO1999024846A1/de not_active Application Discontinuation
- 1998-11-11 JP JP2000519795A patent/JP2001523006A/ja active Pending
- 1998-11-11 DE DE19881685T patent/DE19881685B4/de not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0377078A2 (de) * | 1988-11-23 | 1990-07-11 | TEMIC TELEFUNKEN microelectronic GmbH | Bildsensor auf Halbleiterbasis, insbesondere in CCD-Struktur |
US4970653A (en) * | 1989-04-06 | 1990-11-13 | General Motors Corporation | Vision method of detecting lane boundaries and obstacles |
US5446465A (en) * | 1993-06-18 | 1995-08-29 | Diefes; Debra L. | Satellite location and pointing system for use with global positioning system |
EP0650071A1 (de) * | 1993-10-21 | 1995-04-26 | Hudson Soft Co., Ltd. | Naturbeobachtungssystem |
JPH0989559A (ja) * | 1995-09-22 | 1997-04-04 | Sokkia Co Ltd | Gps受信装置 |
US5757315A (en) * | 1995-09-22 | 1998-05-26 | Sokkia Company Limited | GPS receiving apparatus |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 097, no. 008 29 August 1997 (1997-08-29) * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2906632A1 (fr) * | 2006-09-29 | 2008-04-04 | Inrets | Procede de localisation d'un vehicule. |
WO2008040896A2 (fr) * | 2006-09-29 | 2008-04-10 | Inrets - Institut National De Recherche Sur Les Transports Et Leur Securite | Procédé de localisation d'un véhicule |
WO2008040896A3 (fr) * | 2006-09-29 | 2008-07-03 | Inrets Inst Nat De Rech Sur Le | Procédé de localisation d'un véhicule |
Also Published As
Publication number | Publication date |
---|---|
AU1235099A (en) | 1999-05-31 |
JP2001523006A (ja) | 2001-11-20 |
DE19881685D2 (de) | 2000-08-10 |
EP1047955A1 (de) | 2000-11-02 |
DE29823699U1 (de) | 1999-10-21 |
DE19881685B4 (de) | 2005-04-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9322652B2 (en) | Stereo photogrammetry from a single station using a surveying instrument with an eccentric camera | |
EP2044573B1 (de) | Überwachungskamera, verfahren zur kalibrierung der überwachungskamera sowie verwendung der überwachungskamera | |
DE112010000812T5 (de) | Verfahren und Systeme zum Bestimmen von Winkeln und Orten von Punkten | |
EP1606581B1 (de) | VERFAHREN UND VORRICHTUNG ZUR BILDVERARBEITUNG IN EINEM GEODÄTISCHEN MESSGER T | |
EP0403585B1 (de) | Vermessungsgerät mit empfänger für satelliten-positionsmesssystem und verfahren zu seinem betrieb | |
DE112006000941B4 (de) | Verbesserte GNSS-Signalverarbeitung | |
EP2225533B1 (de) | Verfahren zur georeferenzierung optischer fernerkundungsbilder | |
DE60306301T2 (de) | Verfahren und Gerät zur Erfassung, Geolokalisierung und Vermessung schräg aufgenommener Bilder | |
DE10308525A1 (de) | Vermessungssystem | |
DE19528465C2 (de) | Verfahren und Vorrichtung zur schnellen Erfassung der Lage einer Zielmarke | |
EP1673589B1 (de) | Verfahren und vorrichtung zur bestimmung der aktualposition eines geodätischen instrumentes | |
DE69934940T2 (de) | Vermessungsinstrument mit Lot | |
US20080123990A1 (en) | Method and apparatus of correcting geometry of an image | |
DE60317625T2 (de) | Messung von Antennenparametern einer Basisstation für zellulare Telefonie | |
EP2523017A1 (de) | Kalibrierverfahren für ein Gerät mit Scanfunktionalität | |
EP1681533A1 (de) | Verfahren und geodätisches Gerät zur Vermessung wenigstens eines Zieles | |
DE19804205A1 (de) | Fotogrammetrische Meßeinrichtung und fotogrammetrisches Meßverfahren | |
US20160223326A1 (en) | Target direction determination method and system | |
EP1062525A1 (de) | Verfahren zur überwachung von objekten bzw. eines objektraumes | |
DE19881685B4 (de) | Verfahren und Vorrichtung zur Ermittlung von Messzeiträumen für die Vermessung von von Sichthindernissen zumindest teilweise umgebenen Punkten mittels Satelliten | |
EP3584536B1 (de) | Terrestrisches beobachtungsgerät mit lagebestimmungsfunktionalität | |
WO2009138069A1 (de) | Augmented reality fernglas zur navigationsunterstützung | |
DE4423369C2 (de) | Verfahren zum Positionieren, Orientieren und Navigieren und Navigationsgerät | |
DE19927012C1 (de) | Kalibrationseinrichtung für die Orientierungsparameter von digitalen optoelektronischen Sensorsystemen in Trägersystemen zur Fernerkundung | |
Lohmar | Optimized Planning of GPS-Based |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GE GH GM HR HU ID IL IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG US UZ VN YU ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW SD SZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 1998955574 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09554192 Country of ref document: US |
|
REF | Corresponds to |
Ref document number: 19881685 Country of ref document: DE Date of ref document: 20000810 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 19881685 Country of ref document: DE |
|
WWP | Wipo information: published in national office |
Ref document number: 1998955574 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: CA |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1998955574 Country of ref document: EP |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8607 |