WO2011046461A1 - Système de positionnement à haute précision adapté à une plateforme mobile terrestre - Google Patents

Système de positionnement à haute précision adapté à une plateforme mobile terrestre Download PDF

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Publication number
WO2011046461A1
WO2011046461A1 PCT/PT2009/000073 PT2009000073W WO2011046461A1 WO 2011046461 A1 WO2011046461 A1 WO 2011046461A1 PT 2009000073 W PT2009000073 W PT 2009000073W WO 2011046461 A1 WO2011046461 A1 WO 2011046461A1
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WO
WIPO (PCT)
Prior art keywords
gps
vehicle
positioning system
dimensional
laser
Prior art date
Application number
PCT/PT2009/000073
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English (en)
Portuguese (pt)
Inventor
Paulo Renato Enes Baganha Baptista
Telmo Reis Cunha
Cristina Maria Almeida Bernardes
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Universidade De Aveiro
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Application filed by Universidade De Aveiro filed Critical Universidade De Aveiro
Publication of WO2011046461A1 publication Critical patent/WO2011046461A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Definitions

  • the present invention belongs to the field of high precision three-dimensional positioning carried out by mobile ground platforms to serve topography purposes.
  • This invention uses the use of spatial geodesy techniques, namely the Global Positioning System (GPS) in association with laser technology and an inertial unit, with the purpose of positioning morphological elements of the terrain surface, with a precision level of the order of 0.05 m, regardless of vehicle orientation, or attitude.
  • GPS Global Positioning System
  • the fields of application of the invention are various with emphasis on the area of topographic surveys carried out in coastal environments, particularly on sandy beaches, although it may also be applied in other fields, notably in the topographic monitoring of road construction.
  • the authors of the present invention consider that it can make a very valuable contribution to high precision topographic monitoring with a view to establishing terrain elevation models in the coastal strip, particularly beaches. Sandy.
  • the present invention has undeniable cost advantages over air topographic monitoring systems and productivity and efficiency over traditional land based topographic monitoring systems.
  • the invention that has been developed may serve as a working methodology for technical or research work.
  • the widespread use of this invention in the context presented may serve as a source of information for the creation of databases which can serve as a valid contribution to policy makers, central and local government officials, economic operators. and experts can substantiate their decisions.
  • GPS techniques have similar accuracy to LPS techniques, with the advantage that data acquisition can be done in kinematic mode and therefore ideal for. coupled with mobile platforms.
  • variations in terrain slope affect the vehicle's orientation (attitude) and induce errors in position determination, given by the GPS antenna mounted on the vehicle frame, processed relative to a local reference station. Therefore, single antenna mounted monitoring systems on a mobile platform such as those referred to by Plant and Holman (1997) and Haxel and Holman (2004) have a lower level of accuracy than LPS techniques.
  • mobile platform mounted multi-antenna GPS systems consisting of two or preferably three antennae mounted on an orthogonal vehicle system (Groat, 2000; List et al., 2006).
  • mobile platforms such as off-road or quad bikes, affect the accuracy of GPS measurements due to various vehicle-inherent variables that are difficult to calibrate even when multi-antenna GPS systems are used.
  • Lancker et al. (2004) In such systems, as GPS antennas are mounted on the vehicle, the variation of vehicle suspension during travel or the variation of vehicle penetration into the ground, due to differential terrain compaction, which is very common in beach environments.
  • the present invention overcomes the drawbacks of the previous system as GPS antennas are mounted on a structure attached to the vehicle which has no physical contact with the ground surface.
  • this attached structure is mounted among other sensors a high cadence laser distance meter with a very short distance measurement acquisition time (of the order of millisecond), which allows you to measure the distance to the surface of the ground with very high accuracy.
  • the final accuracy of this multi-antenna GPS system is around 0.05 m in the vertical component, matching the accuracy of traditional local positioning techniques for an incomparably higher level of performance.
  • the present invention therefore aims to bridge a gap in the area of high precision topography. Intervention sectors include those related to coastal monitoring. However, its application is not limited to this area of intervention. Surveying by topography and engineering companies that perform monitoring of public and private works would benefit greatly from a low-cost and efficient land-based surveying system such as the one developed.
  • ALS Airborne Laser Scanning
  • LPS Local Positioning System
  • GPS Global Positioning System
  • RTK Real Time Kine atios GPS
  • GPS multi-antenna systems consisting of the use of two or three antennas mounted on the allow the steering direction vectors to be determined between the various antennas and therefore to calculate the attitude of the vehicle according to the inclination variations it undergoes along the route, thus eliminating the errors inherent in varying the slope of the terrain.
  • Multi-antenna systems continue to be affected by other errors inherent in the fact that antennas are mounted directly on the vehicle structure. Since the objective relates to the determination of ground coordinates and bearing in mind that GPS antennas are mounted on the body, the distance between the phase center of the antennas whose coordinates are known and the ground surface is affected by several variables of difficult calibration. As an example, since off-road vehicles use inner tube tires, variations in tire pressure between successive campaigns in the same area of study may affect the analysis of the results. The variation in atmospheric temperature itself affects the volume of air contained in the tires. Variations in vehicle suspension when moving also affect the accuracy of measurements. Other variables relate to variations in ground resistance to vehicle weight which may affect tire penetration and therefore induce errors in the vertical component of GPS positioning.
  • the present invention relates to an integrated positioning system which includes three GPS receivers, a laser distance gauge and an inertial sensor unit mounted on a side-mounted metal frame on a mobile platform.
  • One of the GPS receivers allows, by differential mode processing, with a local reference station, the high-precision determination of the phase center coordinates of the vehicle-mounted antenna.
  • the laser distance meter allows the calculation of the distance to the ground surface.
  • the various GPS receivers make it possible to obtain the vector coordinates between GPS antennas, whose distances are constant, resulting in the determination of the attitude of the vehicle.
  • the inertial sensor unit aims to increase robustness in attitude determination.
  • the aim of this invention is to restrict the sources of error inherent to high precision three-dimensional positioning when performed on land mobile platforms only to those due to GPS when operating in kinematic differential mode (of the order of 0.03 and 0.04 m in planimetry and altimetry respectively), and those due to laser distance measurement (less than ⁇ , 01 m). Since in this invention the calculation of the distance to the surface of the ground is made by a laser distance meter , the high rate 'and an acquisition time of measuring very short distance, the millisecond order, the various vehicle variables affecting Positioning, especially in its vertical component, is eliminated, such as the variation in tire pressure, the variations induced by the dynamics of movement in the vehicle suspension and the variation in ground resistance to vehicle weight.
  • This invention may also have advantages over other multi-antenna GPS systems mounted on mobile platforms in that in the present case only one receiver is required to be a high performance receiver, ie dual frequency receiver which allows determining, in a differential mode, with respect to a local reference station, the coordinates of the phase center or the base of one of the antennas laterally coupled to the vehicle.
  • the remaining two receivers and their antennas are only used as auxiliary instruments for determining the attitude of the equipment's supporting structure, being that they are of medium performance, ie of simple frequency.
  • the advantages of using single frequency receivers are cost-effective as such a solution represents a significant reduction in GPS equipment cost. However, these may of course also be double frequency.
  • This invention further obviates other drawbacks of multi-antenna systems traditionally mounted directly on vehicles, since in the present case the multi-antenna system is mounted laterally on the vehicle, thus allowing to delineate terrain morphologies such as ridges. shore verges, erosion escarpments, or wave spreading limits, in safe conditions for the vehicle and its operator.
  • the operator visualizes and laterally tracks the morphologies he wishes to position as he moves the vehicle on the ground.
  • High-precision three-dimensional terrain surface positioning system for navigational use in a land vehicle, which comprises a rigid equipment support structure consisting of a metal main arm with an extendable element at its end, which supports a laser distance gauge attached to the lower end of this extensible element, a GPS antenna coupled to a rod attached to the upper end of this extensible element, and its GPS receiver, an inertial sensor unit with three accelerometers and three gyros arranged in a system orthogonal three-axle axle and with an included compensation temperature sensor mounted on a metal platform on that main arm and oriented in the directions of the longitudinal and transverse axles of the vehicle, and two secondary arms connected to the main arm and to a bar arranged according to eix longitudinal of the vehicle, arms that support two GPS antennas, coupled to rods fixed in those arms, which antennas are connected to two GPS receivers, as well as a synchronous collection and data storage unit to which the distanciometer is connected, GPS receivers and the inertial sensor unit.
  • the target positioning system of the present invention is characterized by being a set of electronic equipment mounted on a support structure that can be adapted to an off-road vehicle, which sends the acquired data to a synchronous collection and storage unit, which includes hardware developed for this purpose.
  • This system is specially designed so that the positioning of the ground surface is not affected by any physical element of the vehicle or associated with the dynamics of the moving vehicle.
  • - fig. 1 is a schematic and simplified profile representation of an embodiment of the integrated monitoring system according to the invention.
  • - fig. 2 is a plan view of said integrated monitoring system.
  • the preferred embodiment of the invention which consists of a set of equipment, which sends data to a synchronously collecting and storing information unit, and which is coupled to a support structure, which is adapted to a vehicle of the support and equipment, how that structure is adapted to the vehicle, and the architecture adopted for mounting the equipment, as shown in the figures.
  • the support structure used for mounting the various electronic equipment constituting the positioning system is a structure external to the vehicle, which is attached to it at various support points.
  • This structure includes a metal main arm (1) aligned with the direction of the transverse axis of the vehicle and fixed to a metal bar (11), the latter aligned with the direction of the longitudinal axis of the vehicle.
  • a metal main arm (1) aligned with the direction of the transverse axis of the vehicle and fixed to a metal bar (11), the latter aligned with the direction of the longitudinal axis of the vehicle.
  • a second sliding arm (2 ⁇ , which allows for an extension of about 2/3 of the length of the main arm, the latter 0.90 m in length.
  • the second sliding arm can be fixed at any point of the its course by means of two screws.
  • a pole (5) which allows to attach a GPS antenna (4).
  • the pole is of sufficient height that interference will not occur to the signal reception at the GPS antenna by any physical element of the vehicle or its operator.
  • a metal plate (not shown) by means of two screws, which serves to couple a laser distanciometer (3).
  • the fixing of the metal plate to the arm is not made by holes, but by slots allowing its attachment to be adjusted laterally along the horizontal component of the extendable arm, thus allowing the location of the laser emitting point to be aligned in a vertical direction with the axis of the rod (5). ) placed on the upper end of that arm, and consequently with the GPS antenna (4).
  • a metal platform (8) which allows the storage of an inertial sensor unit with three accelerometers and three gyros arranged in an orthogonal three-dimensional axis system and with an included temperature compensation sensor (7), whose axes main lines are aligned with the directions of the longitudinal and transverse axles of the vehicle.
  • the equipment support structure further includes two secondary arms (9 and 10). Each of these arms is fixed on one side to one end of the metal bar which is aligned in the direction of the longitudinal axis of the vehicle (11) and opposite is attached to the main arm (1). ). With this arrangement an equipment support structure with triangular geometry is formed. On the upper face of each of the secondary arms are attached two poles (14 and 15) of identical dimensions to the pole supporting the dual frequency GPS antenna (5), which allows to attach two GPS antennas (12 and 13).
  • the support structure of equipment with triangular geometry has been developed to be removable, side mounted, with the option to be fixed to the right or left side of the vehicle.
  • two transverse metal bars (19 and 20) are mounted on the vehicle body using semi-rigid body fasteners (22 and 23) to ensure that the rigid support structure of the equipment is resistant to eventual damage. body twisting motions.
  • body fasteners 22 and 23
  • At the ends of each of these metal bars there are two perforated grooves that allow the fitting of the equipment support metal frame.
  • the vehicle mounting points on the metal support frame have a vertically arranged, multi-point perforated slide (24) which allows insertion into the slots of the metal bars mounted on the vehicle body (19 and 20). ), which may be inserted at different heights from the ground. After insertion, the fixing is made by screws with nut (not shown).
  • the equipment support metal frame is further supported by an extendable transverse rod (21), which engages on one side with the lower main arm (1) of said metal frame and on the other side of the vehicle chassis by means of a pin mounting bracket (26).
  • a counterweight (25) is mounted under a metal bar (27) arranged along the transverse axis of the This counterweight may be adjusted at various positions along the course of that bar depending on the position of the extendable element (2) of the main arm positioned opposite the vehicle.
  • the GPS receivers (6, 16 and 17), the laser distance meter (3) and the inertial sensor unit (7) are connected to a synchronous data collection and storage unit (18) mounted on the body of the vehicle. which has the possibility of communication via RS232 or RS485 interface with GPS receivers (6, 16 and 17), laser distanciometer (3) and inertial sensor unit (7).
  • the operation of the GPS receivers (6, 16 and 17) and the laser distance meter (3) are controlled by message exchanges according to specific protocols. Data are stored in non-flash memory (flash) capable of 24 hours of continuous recording.
  • a key feature for the smooth operation of this system over a long period is its isolation from the outside. As the study areas are in the coastal zone, the level of humidity and saltpeter is very high, which prevents the use of laptops or equivalent. Thus, the synchronous data collection and storage unit 18 is protected in an airtight, insulated aluminum case with isolation. The important need to synchronize sensor data is also highlighted. GPS receivers (6, 16 and 17) determine, in addition to position, a very accurate time estimate (not GPS time system). In contrast, the laser distanciometer (3) and also the inertial sensor unit only send successive measurements without any indication of the time at which they occurred, so it was necessary to consider in the design of the collection and storage system the synchronization of distance.
  • a sync signal (1PPS) was used sent by one of the GPS receivers which is processed at a very low level by a microcontroller (not shown) integrated in the synchronous collection system which manages the monitoring system. storage.
  • the microcontroller (PIC18F458) further configures the equipment connected to the system and collects the relevant data from it and stores it. All sensors communicate with the microcontroller via a quart-UART that parallels RS232 (or RS485 with RS232 conversion) communications.
  • a signaling LED interface tells the operator information about the memory fill state, the sensor activity state, and the recording state.
  • the operator can, at the push of a button, start a new data recording session, or end the current session. All sessions are individualized in the data storage system as files.
  • the operation of this positioning system is essentially based on the integration of the information acquired by the various sensors mounted on the support structure.
  • One of the GPS receivers (6) is used to determine the highly accurate three-dimensional position of the top of the main pole (5) of the system.
  • the respective GPS antenna (4) is located at the top of this pole, the base of which is occupied by the laser distance meter (3).
  • the GPS antenna (4) operates in differential mode, that is, the positions obtained by that antenna are processed relative to a local reference station (not shown), thus allowing for high precision absolute positioning.
  • the laser distance meter (3) At the base of the main pole is the laser distance meter (3) whose beam has been aligned with the main pole (5).
  • This sensor is capable of measuring up to 1000 samples per second, at distances ranging from 30 cm to 4 meters, and with a accuracy greater than 1 cm.
  • the main pole (5) being vertical, knowing the coordinates of the top of that pole, given by the GPS receiver (6) and its GPS antenna (4.), knowing the length of the pole (5). ) and the distance from its base to the ground, given by the laser distance meter (3), the coordinates of the ground point directly below the system are precisely determined.
  • the variation of these steering vectors ⁇ reflects the variation in the inclination of the main pole (5) as the antenna structure is integral with it.
  • the inclination of the main pole relative to the local vertical direction is thus determined, which makes it possible to accurately determine, by simple geometry analysis, the coordinates of the ground point targeted by the lase distometer (3).
  • This positioning system may have several modifications, notably as regards the equipment support structure and the way the platform is adapted to the mobile platform, according to the particular characteristics of the vehicle in each case.

Abstract

La présente invention concerne un système de positionnement tridimensionnel à haute précision adapté à une plateforme mobile terrestre, tel qu'un véhicule tout-terrain, permettant la surveillance efficace de la topographie de la surface du terrain. L'invention fait appel à des techniques de géodésie spatiale, et notamment au système mondial de positionnement (GPS) en association avec une technologie laser ainsi qu'une unité inertielle, avec pour objectif de positionner des éléments morphologiques de la surface du terrain. Dans ce système, les erreurs de positionnement associées à la variation de l'orientation du véhicule (attitude) sont annulées en fonction des variations de la déclivité du terrain. Il en va de même pour les erreurs de positionnement associées à des variables du véhicule lui-même, et notamment à la suspension, à la variation de pression des pneus et à la pénétration différentielle des pneus dans le sol. Les domaines d'application de l'invention sont divers, et incluent notamment le domaine des relevés topographiques réalisés dans des environnements littoraux, et plus particulièrement sur des plages sableuses. L'invention trouve également une application dans d'autres domaines tels que, notamment, le suivi topographique de la construction de routes. Elle se caractérise en ce qu'elle comprend une structure rigide de support d'équipement constituée par un bras principal métallique (1), avec un élément extensible en son extrémité (2), qui supporte un télémètre laser (3) fixé à l'extrémité inférieure de l'élément extensible, une antenne GPS (4) couplée à un poteau (5) fixé à l'extrémité supérieure de l'élément extensible, un récepteur GPS (6) respectif, une unité à capteurs inertiels avec trois accéléromètres et trois gyroscopes, et avec un capteur de température inclus en vue d'une compensation (7), monté sur une plateforme métallique (8), sur le bras principal, et deux bras secondaires (9 et 10) reliés au bras principal (1) et à une barre disposée selon l'axe longitudinal du véhicule (11), lesdits bras supportant deux antennes GPS (12 et 13), couplées à des poteaux (14 et 15) fixés auxdits bras, lesdites antennes étant reliées à deux récepteurs GPS (16 et 17), ainsi qu'une unité de collecte synchrone et de stockage de données (18) à laquelle sont reliés le télémètre, les récepteurs GPS et l'unité à capteurs inertiels.
PCT/PT2009/000073 2009-10-13 2009-12-10 Système de positionnement à haute précision adapté à une plateforme mobile terrestre WO2011046461A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PT104783A PT104783B (pt) 2009-10-13 2009-10-13 Sistema de posicionamento de elevada precisão adaptado a uma plataforma móvel terrestre
PT104783 2009-10-13

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WO2011046461A1 true WO2011046461A1 (fr) 2011-04-21

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ITMO20110313A1 (it) * 2011-12-02 2013-06-03 Paola Gelmuzzi Apparecchiatura di rilevamento topografico ad alta definizione
GB2508617A (en) * 2012-12-05 2014-06-11 Vert Systems Ltd Terrain-topography motion capture system, apparatus and method
US10813272B2 (en) 2019-01-24 2020-10-27 Cnh Industrial America Llc System and method for determining the position of a sensor mounted on an agricultural machine based on ground speed and field characteristic data

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102353379A (zh) * 2011-07-06 2012-02-15 上海海事大学 一种适用于自动驾驶车导航的环境建模方法
ITMO20110313A1 (it) * 2011-12-02 2013-06-03 Paola Gelmuzzi Apparecchiatura di rilevamento topografico ad alta definizione
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