WO2022078835A1 - Arrangement de mesure et procédé de mesure - Google Patents

Arrangement de mesure et procédé de mesure Download PDF

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Publication number
WO2022078835A1
WO2022078835A1 PCT/EP2021/077546 EP2021077546W WO2022078835A1 WO 2022078835 A1 WO2022078835 A1 WO 2022078835A1 EP 2021077546 W EP2021077546 W EP 2021077546W WO 2022078835 A1 WO2022078835 A1 WO 2022078835A1
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WO
WIPO (PCT)
Prior art keywords
measuring device
measuring
vehicle
measurement object
reflector
Prior art date
Application number
PCT/EP2021/077546
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German (de)
English (en)
Inventor
Marcel Hofmann
Jens Bammert
Rolf Dubitzky
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2022078835A1 publication Critical patent/WO2022078835A1/fr

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Classifications

    • 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
    • G01C15/002—Active optical surveying means

Definitions

  • the present invention relates to a measuring arrangement and a measuring method for determining the position of a moving vehicle.
  • US 2009/0171618 A1 discloses an observation system with a tachymeter for observing and tracking a moving vehicle. Accordingly, a vehicle itself has acceleration sensors that can communicate with the tachymeter. If the vehicle is lost from the tachymeter, then the tachymeter sends position data to the tachymeter based on the accelerometer sensors. The position data sent by the vehicle is used by the tachymeter as a starting position for relocating the vehicle. However, if the vehicle moves completely outside the total station's monitoring range, the vehicle's position can no longer be tracked. This is the case, for example, when the vehicle drives around a corner of a building. against this background, an object of the present invention is to create an improved measuring arrangement and an improved measuring method for determining the position of a moving vehicle.
  • a measuring arrangement for determining the position of a moving vehicle comprising a measurement object, having a first measurement device and a second measurement device, which are each set up to detect a position of the measurement object, the first measurement device being set up to determine the detected position directly or indirectly to the second measuring device and/or the second measuring device is set up to transmit the detected position directly or indirectly to the first measuring device, and wherein the first measuring device is set up to track the position of the measurement object in a first monitoring area, and the second optical detection device is set up to track the position of the measurement object in a second monitoring area, and the first monitoring area and the second monitoring area are different from one another and overlap with one another in an overlapping area.
  • the measurement object is preferably an object attached separately to the vehicle, for example a marking, in particular a code and/or a color marking. Alternatively or additionally, the measurement object includes a separate reflection surface.
  • the first and/or second measuring device comprises a camera, for example, and in particular a computing unit connected to the camera. The camera and/or the computing unit is set up, for example, to identify the marking within a recorded image.
  • the position of the measurement object is preferably determined on the basis of the size of the marking and/or a change in size and/or position of the marking in successive images. This can be done with the help of an image processing algorithm, for example.
  • exactly two, three or four markings can be attached to the vehicle and recorded using the measuring devices.
  • the measuring arrangement preferably comprises a separating object, in particular a building wall, which is provided between the first measuring device and the second measuring device, so that there is no visual contact between the first measuring arrangement and the second measuring arrangement.
  • a measuring arrangement for determining the position of a moving vehicle which includes a reflector
  • the measuring arrangement has a first optical detection device and a second optical detection device, which are each set up to detect a position of the vehicle by means of a measuring beam emitted to the reflector and reflected back by the reflector.
  • the first optical detection device is set up to transmit the detected position directly or indirectly to the second detection device.
  • the second optical detection device is set up to transmit the detected position directly or indirectly to the first detection device.
  • the first optical detection device is set up to track the position of the vehicle in a first monitoring area
  • the second optical detection device is set up to track the position of the vehicle in a second monitoring area. In this case, the first monitored area and the second monitored area are different from one another and overlap with one another in an overlapping area.
  • Direct transmission of the position means, for example, that signals representing the position are transmitted from the first optical detection device to the second optical detection device without intermediate stations.
  • Indirect transmission of the position means, for example, that the position-representing signals are transmitted from the first optical detection device to a control device that is provided externally from the second optical detection device and communicates with it.
  • Transmitting position means transmitting signals representing position. These can be, for example, coordinates and/or angles that allow the optical detection device to be set in such a way that the measuring beam hits the reflector. Since the first and second optical detection device determine the position of the vehicle using the measuring beam that is emitted and reflected back by the reflector, the position of the vehicle can also be detected in an environment in which GPS reception is not available. For example, the position of the vehicle in an underground car park can be determined with the measuring arrangement.
  • the measuring arrangement has the second optical detection device, which can detect the position of the vehicle in a second monitoring area that is partially not visible from the first optical detection device, the vehicle can also be detected when moving around corners, through rooms arranged at an angle and/or through several spaces are tracked.
  • the second optical detection device can quickly find the vehicle and detect its position as soon as it enters the second monitoring area. The same applies correspondingly to the second optical detection device, which, for example, transmits the detected position to the first optical detection device.
  • the second optical detection device can start detecting the position of the vehicle and tracking the position of the vehicle before the first optical detection device can no longer see the vehicle and can therefore no longer measure its position.
  • the measuring arrangement can be used in particular for testing driver assistance systems, for example parking assistance systems.
  • the vehicle is, for example, a passenger car or a truck. If the vehicle has a driver assistance system, the vehicle preferably includes a number of sensor units that are set up to detect the driving status of the vehicle and to detect an environment of the vehicle. Examples of such sensor units of the vehicle are optical devices such as a camera, a radar (radio detection and ranging) or a lidar (engl. light detection and ranging), ultrasonic sensors, location sensors, wheel angle sensors and/or wheel speed sensors.
  • the sensor units are each set up to output a sensor signal, for example to the parking assistance system, which carries out the partially autonomous or fully autonomous driving as a function of the detected sensor signals.
  • the predefined trajectory of the parking assistance system is preferably a trained trajectory.
  • the parking assistance system or another system of the vehicle is set up to record and store a manually driven trajectory in a training mode.
  • various sensor signals are recorded here that characterize a driving state of the vehicle, such as a speed, a position, a steering angle and the like, as clearly as possible.
  • sensor signals from surroundings sensors of the vehicle are recorded, which, for example, enable an image of the surroundings of the vehicle, in particular a position of obstacles in the surroundings.
  • the trained trajectory can be traced by playing back the driving state of the vehicle synchronously in time, i.e. repeating it. In order to follow the specified trajectory, it is desirable to take current environmental sensor data into account.
  • the parking assistance system therefore receives a sensor signal that is indicative of the surroundings.
  • the parking assistance system can, for example, receive this directly from one or more of the vehicle's surroundings sensors and combine several sensor signals from different surroundings sensors, or the parking assistance system can system already receives the sensor signal in a pre-processed state, for example in the form of a digital map of the area on which detected obstacles in the area are marked.
  • the proposed measurement arrangement can be used to test such a parking assistance system and to check how exactly a predetermined trajectory of the parking assistance system is traversed by the parking assistance system.
  • the first monitoring area monitored by the first optical detection device of the measuring arrangement is in particular a spatial area into which the first optical detection device can direct its measuring beam and from which it can detect a measuring beam reflected back by the reflector. The same applies to the second monitoring area.
  • the overlapping area is in particular a spatial area into which both the first optical detection device and the second optical detection device can direct their respective measurement beam and from which they can detect a respective measurement beam reflected back by the reflector.
  • the position of the vehicle detected by the first optical detection device and the second optical detection device can be transmitted directly to the respective other optical detection device, or can be transmitted to the respective other optical detection device via an external control device.
  • the position of the vehicle detected by the first optical detection device and the second optical detection device can be sent to the other optical detection device, for example continuously, e.g. b. every 100 milliseconds.
  • the measuring arrangement has, for example, the reflector, which is designed to be attached to the vehicle.
  • the measuring arrangement can, for example, also have further optical detection devices in addition to the first optical detection device and the second optical detection device.
  • the additional optical detection devices are in particular configured similarly or identically to the first and second optical detection devices.
  • the measuring arrangement can have a third optical detection device, which detects the position of the vehicle in a third monitoring area.
  • the third monitoring area is different from the first and the second monitoring area.
  • the third monitoring area overlaps with the second monitoring area, for example.
  • the measuring arrangement can also have a fourth, fifth, etc. optical detection device.
  • the measurement object is a reflector and the first measuring device is a first optical detection device and the second measuring device is a second optical detection device, which are each set up to detect the position of the reflector by means of a measuring beam emitted to the reflector and reflected back by the reflector.
  • the first optical detection device is a tachymeter and/or the second optical detection device is a tachymeter.
  • a tachymeter is used to measure the distance and direction between the tachymeter and a target point, here the reflector on the vehicle.
  • a horizontal angle and a vertical angle to the target point in this case the reflector
  • the tachymeter has a telescope through which the reflector can be detected.
  • a horizontal angle and a vertical angle relative to a horizontal reference direction and a vertical reference direction of the tachymeter can be determined from a line of sight of the telescope.
  • the distance between the tachymeter and the reflector can also be determined (electro-optical distance measurement) by means of the measuring beam emitted by the tachymeter and the measuring beam reflected back by the reflector.
  • the three-dimensional position of the vehicle (more precisely: the reflector) can be calculated in Cartesian coordinates (x, y, z) from the horizontal angle recorded, the vertical angle recorded and the distance recorded from the total station to the reflector on the vehicle.
  • the position of the vehicle can be measured with an accuracy of a few millimeters using a tachymeter.
  • the measuring device and the second measuring device are each set up to start detecting the position of the measurement object and tracking the position of the measurement object based on the position of the measurement object transmitted by the respective other measurement device.
  • a current position of the measurement object transmitted by the first measuring device is used as the starting position for the second measuring device to search for the vehicle.
  • the first measuring device and the second measuring device are each set up to start detecting the position of the measurement object and tracking the position of the measurement object in the overlapping area and to take over from the respective other measuring device in the overlapping area.
  • the second measuring device can track the position of the vehicle before the first measuring device has lost the vehicle from its field of view (first monitoring area).
  • the position of the vehicle can also be determined when the vehicle moves from the first monitoring area to the second monitoring area. area can be recorded continuously, ie without gaps. The actual trajectory of the vehicle can thus be better determined.
  • the first measuring device and the second measuring device are each set up to detect the position of the vehicle in three spatial directions.
  • the position of the vehicle can be detected both when driving on a flat surface and when driving into a depression or on a rise.
  • the movement of the vehicle can also be tracked when driving to a lower or higher level in a parking garage.
  • the first measuring device and the second measuring device are each set up to record the position of the vehicle in the same coordinate system.
  • the measuring device and the second measuring device are calibrated to a common coordinate system before the position of the vehicle is detected. This is done, for example, by arranging a reflector in the overlapping area at a first measuring point and both the first and the second measuring device detecting the position of this first measuring point, thereby defining an origin of a Cartesian coordinate system. A reflector is then arranged in the overlapping area at a second measuring point. Because both the first and the second measuring device record the position of this second measuring point, a first axis of the Cartesian coordinate system can be defined. The position of the vehicle can be determined more easily by the common coordinate system established in this way.
  • the first measuring device and the second measuring device are stationary.
  • the first measuring device and the second measuring device do not move with the vehicle.
  • the first optical detection device and/or the second optical detection device each have a rotatably and/or tiltably mounted optical system for emitting the measuring beam and for receiving the measuring beam reflected back by the reflector.
  • an optical system of the tachymeter which has the telescope of the tachymeter, is mounted such that it can be rotated and/or tilted, so that it can be aligned with the reflector.
  • the first optical detection device and/or the second optical detection device also have, for example, motors (e.g. servomotors) for rotating and/or tilting the optical system.
  • motors e.g. servomotors
  • the first measuring device and the second measuring device each have a communication device for transmitting the detected position to the respective other measuring device and for receiving the detected position from the respective other measuring device.
  • the communication device has a transmitter and a receiver.
  • the communication device is set up, for example, to wirelessly transmit the detected position.
  • the communication device is set up, for example, to transmit the detected position using electromagnetic waves in the radio frequency range.
  • the communication device uses Bluetooth technology and/or WLAN technology, for example.
  • the measuring arrangement has at least one control device for detecting and tracking the position of the vehicle and/or for sending and receiving the sensed position.
  • the at least one control device is implemented in the first measuring device, in the second measuring device and/or outside of the first and second measuring device.
  • the reflector is a prism and/or the measuring beam is a laser beam.
  • the reflector is, for example, a triple mirror reflector and/or a 360-degree prism.
  • the vehicle can also have more than one reflector.
  • the position of the vehicle can be detected by means of the first and/or the second optical detection device by illuminating the multiple reflectors and receiving and evaluating the measuring beams reflected back by the multiple reflectors.
  • a measurement method for determining the position of a moving vehicle which has a measurement object comprises the steps: a) detecting and tracking a position of the measurement object with a first measuring device in a first monitoring area, b) directly or indirectly transmitting the detected position to a second measuring device, and c) detecting and tracking the position of the measurement object with the second measuring device in a second monitoring area, which is different from the first monitoring area and overlaps with the first monitoring area in an overlapping area.
  • a measurement method for determining the position of a moving vehicle has the steps: a) detecting and tracking a position of the vehicle with a first optical detection device in a first monitoring area, the first optical detection device emitting a measuring beam to a reflector on the vehicle and receiving a measuring beam reflected back by the reflector, b) direct or indirect transmission of the detected position to a second optical
  • Detection device and c) detecting and tracking the position of the vehicle with the second optical detection device in a second monitoring area, which is different from the first monitoring area and overlaps with the first monitoring area in an overlapping area.
  • the position of the vehicle transmitted by the first optical detection device is used as a starting position when detecting and tracking the position of the vehicle with the second optical detection device.
  • the second optical detection device starts detecting and tracking the position of the vehicle in the overlap area, and the second optical detection device takes over the detection and tracking of the position of the vehicle from the first optical detection device in the overlap area.
  • the measurement method has the step before step a):
  • FIG. 1 shows a measurement arrangement for determining the position of a moving vehicle according to an embodiment
  • FIG. 2 shows the knife arrangement of FIG. 1 in detecting the position of a vehicle
  • Figure 3 is a view similar to Figure 2 with the vehicle having moved on;
  • Figure 4 is a view similar to Figure 3 with the vehicle having turned a corner;
  • FIG. 5 shows an optical detection unit of the measuring arrangement from FIG. 1;
  • Fig. 6 shows a detail of the optical detection unit of Fig. 5;
  • FIG. 7 shows a flow chart of a measurement method for determining the position of a moving vehicle using the measurement arrangement from FIG.
  • Figures 1 to 4 show a measuring arrangement 1.
  • the measuring arrangement 1 is used to detect and track the position P1, P2, P3 of a vehicle 2.
  • the vehicle 2 is shown as an example at three positions P1, P2, P3.
  • the vehicle 2 in the example is a motor vehicle in the form of a passenger car. In other examples, the vehicle 2 can also be a truck, bus or other motor vehicle.
  • the vehicle 2 has, for example, a parking assistance system (not shown) and the measurement arrangement 1 is used, for example, to test the parking assistance system.
  • the parking assistance system can include a control unit. Furthermore, several environment sensors (not shown) are arranged on the vehicle 2, for example.
  • the environmental sensors are, for example, optical sensors such as cameras, radar systems, lidar systems, which optical information such. B. capture an image of an area surrounding the vehicle 2 and output it as an optical sensor signal.
  • the surroundings sensors can also be ultrasonic sensors, for example, which are used to detect a distance to objects in the surroundings of vehicle 2 and to output a corresponding sensor signal.
  • the parking assistance system is able to drive the vehicle 2 semi-autonomously or else fully autonomously.
  • Partially autonomous driving is understood to mean, for example, that the parking assistance system controls a steering device and/or an automatic drive level.
  • Fully autonomous driving means, for example, that the parking assistance system also controls a drive device and a braking device. Such a The parking assistance system can be tested using the measuring arrangement 1 shown in FIGS.
  • the measuring arrangement 1 has a first measuring device, in particular an optical detection device 3 , and a second measuring device, in particular an optical detection device 4 .
  • the first and second detection devices 3, 4 are each designed as a tachymeter (first tachymeter 3 and second tachymeter 4).
  • the measuring arrangement 1 also has a marking 5 or a reflector 5 which is attached to the vehicle 2 (FIG. 2).
  • the reflector 5 is a prism, for example.
  • the vehicle 2 can also have other reflectors, in particular exactly two or three. Preferably, not only the position but also an orientation of the vehicle 2 can be determined with the aid of a second reflector.
  • the measuring devices 3, 4 can be designed as cameras 3, 4.
  • the marking 5 is, for example, a code and/or a color marking.
  • the camera and/or the computing unit 19 is set up, for example, to identify the marking within a recorded image.
  • the position of the marking is preferably determined based on the size of the marking 5 and/or a change in size and/or position of the marking 5 in successive images, in particular using the actual size of the marking and/or geometry, which is known. This can be done with the help of an image processing algorithm, for example.
  • exactly two, three or four markings 5 can be attached to the vehicle and recorded using the measuring devices 3, 4.
  • FIGS. 2 to 4 a building wall 7 leading around a corner 6 is shown schematically in FIGS.
  • the vehicle 2 drives around the corner 6 of the building wall 7 along a trajectory 8, for example with the aid of a parking assistance system.
  • Figures 5 and 6 show one of the first and second total station 3, 4 in detail.
  • Each of the tachymeters 3, 4 has an optical system 9 for detecting the position P1, P2, P3 of the vehicle 2.
  • the optical system 9 has a telescope 10 for aiming at the reflector 5 on the vehicle 2 .
  • the optical system 9 is rotatable about a vertical axis V and tiltable about a horizontal axis H (FIG. 6).
  • the reference number 21 denotes a tiltable mounting of the optical system 9
  • the reference number 22 denotes a rotatable mounting of the optical system 9.
  • a vertical angle (not shown) between a vertical reference direction (not shown) of the total station 3, which is arranged parallel to the z-direction in the figures, and the direction C can also be measured.
  • the optical system 9 of each of the tachymeters 3, 4 has a laser (not shown) for emitting a measuring beam 11 (FIG. 5) in the direction of the reflector 5 (FIG. 2).
  • the reflector 5 reflects the measuring beam 11 and the measuring beam 1 T reflected back by the reflector 5 is received by a detection unit (not shown) of the optical system 9 .
  • a distance A between the respective total station 3, 4 and the reflector 5 on the vehicle 2 can be measured opto-electronically, as illustrated for the total station 3 in FIG.
  • the three-dimensional position P1, P2, P3 of the vehicle 2 (more precisely: the reflector 5) calculated in Cartesian coordinates (x, y, z).
  • the three-dimensional position P1, P2, P3 is controlled by a control device 20 (Fig. 6) of the respective total station 3, 4 is calculated.
  • a control device 20 Fig. 6 of the respective total station 3, 4 is calculated.
  • only a two-dimensional position P1, P2, P3 in the horizontal plane is determined.
  • the first total station 3 can monitor a first monitoring area 12
  • the second total station 4 can monitor a second monitoring area 13 .
  • the monitoring areas 12, 13 are delimited in particular by the wall 7 of the building.
  • the first tachymeter 3 can no longer see the vehicle 2 at position P3 (FIG. 4).
  • the second total station 4 cannot yet see the vehicle 2 at position P1 (FIG. 2).
  • the view between the first tachymeter 3 and part of the second monitoring area 13 is thus blocked by the building wall 7 .
  • the view of the second tachymeter 4 and part of the first monitoring area 12 is blocked by the building wall 7 .
  • the first surveillance area 12 can have a part on one floor and the second surveillance area 13 can have a part on another floor (not shown).
  • the first monitor area 12 and the second monitor area 13 overlap each other in an overlap area 14 (Fig. 1).
  • a reflector similar to the reflector 5 is arranged at a first measuring point 16 .
  • the first measuring point 16 is located in particular in the overlapping area 14, which can be viewed both by the first tachymeter 3 and by the second tachymeter 4.
  • the position P4 of the first measuring point 16 is recorded both by the first tachymeter 3 and by the second tachymeter 4, whereby the position P4 of the first measuring point 16 can be defined as an origin of a common Cartesian coordinate system 15.
  • a reflector similar to the reflector 5 is arranged in the overlapping area 14 at a second measuring point 17 .
  • the position P5 of the second measuring point 17 is recorded both by the first tachymeter 3 and by the second tachymeter 4, whereby a connecting line between the first measuring point 16 and the two th measuring point 17 can be defined as a first axis x of the common Cartesian coordinate system 15 . Consequently, a common coordinate system 15 for both total stations 3, 4 can be established.
  • a second step S2 of the measurement method the position P1 of the vehicle 2 (more precisely: the position P1 of the reflector 5 on the vehicle 2) in the first monitoring area 12 is recorded and tracked with the first tachymeter 3, as shown in FIG.
  • the rotatable and tiltable optical system 9 (FIG. 6) of the total station 3 is aligned in the direction of the reflector 5 of the vehicle 2 (FIG. 2).
  • the measuring beam 11 is emitted towards the reflector 5 and a measuring beam 1 T reflected by the reflector 5 is received by the tachymeter 3 .
  • the instantaneous position P1 of the reflector 5 of the vehicle 2 can thus be detected in three dimensions in the common coordinate system 15 .
  • a third step S3 of the measurement method the recorded position P1 of the vehicle 2 is transmitted to the second tachymeter 4 .
  • each of the tachymeters 3, 4 has a communication device 18 (FIG. 5) which can send and receive data.
  • the detected positions P1, P2, P3 of the vehicle 2 are transmitted between the first tachymeter 3 and the second tachymeter 4 via an external control device 19 (FIG. 2). That is, in step S3, the first total station 3 transmits the detected position P1, P2 to the external control device 19, and the external control device 19 transmits the detected position P1, P2 to the second total station 4.
  • the detected position P1, P2, P3 of the vehicle 2 can also be transmitted directly from the first tachymeter 3 to the second tachymeter 4 and vice versa.
  • step S2 and step S3 are carried out continuously.
  • a fourth step S4 of the measuring method the position P2, P3 of the vehicle 2 (more precisely: the reflector 5) is measured with the second tachymeter 4 in the second monitoring area 13, which includes the overlapping area 14, is detected and tracked, as shown in FIGS.
  • the position P2 transmitted by the first tachymeter 3 is used as the starting position for detecting and tracking the position P2, P3 of the vehicle 2 with the second tachymeter 4 .
  • the second tachymeter 4 can locate the vehicle 2 more quickly and easily and start tracking the position P2, P3 of the vehicle 2 more quickly and reliably.
  • the second tachymeter 4 takes over the tracking of the position P2 of the vehicle 2 from the first tachymeter 3 in the overlapping area 14, ie in particular before the first tachymeter 3 can no longer see the vehicle 2 driving around the corner 6 of the building wall 7.
  • the vehicle 2 has driven around the corner 6 and the position P3 of the vehicle 2 is now exclusively recorded and tracked by the second tachymeter 4 .
  • the two tachymeters 3 and 4 which can detect the vehicle 2 in different spatial monitoring areas 12, 13, but which overlap with one another and which transmit the detected positions P1, P2, P3 to one another, the trajectory 8 actually driven by the vehicle 2 be fully recorded.
  • a parking assistance system of the vehicle 2 can thus be tested very well, for example.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de mesure (1) destiné à déterminer la position d'un véhicule en mouvement (2) comprenant un objet de mesure (5), comportant un premier dispositif de mesure (3) et un deuxième dispositif de mesure (4) qui sont chacun conçus pour détecter une position (P1, P2, P3) de l'objet de mesure (5). Le premier dispositif de mesure (3) est configuré pour transmettre la position détectée (P2) au deuxième dispositif de mesure (4) directement ou indirectement et/ou le deuxième dispositif de mesure (4) est configuré pour transmettre la position détectée (P2) au premier dispositif de mesure (4) directement ou indirectement. Le premier dispositif de mesure (3) est configuré pour suivre la position (P1, P2) de l'objet de mesure (5) dans une première zone de surveillance (12), et le deuxième dispositif de mesure (4) est configuré pour suivre la position (P2, P3) de l'objet de mesure (5) dans une deuxième zone de surveillance (13). La première zone de surveillance (12) et la deuxième zone de surveillance (13) sont différentes l'une de l'autre et se chevauchent dans une zone de chevauchement (14).
PCT/EP2021/077546 2020-10-13 2021-10-06 Arrangement de mesure et procédé de mesure WO2022078835A1 (fr)

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DE102020126817.3A DE102020126817A1 (de) 2020-10-13 2020-10-13 Messanordnung und messverfahren

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CN1240270A (zh) * 1999-07-02 2000-01-05 清华大学 目标空间位置及姿态激光跟踪测量系统及其测量方法
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EP2818958A2 (fr) * 2013-06-14 2014-12-31 Kabushiki Kaisha Topcon Système et procédé de guidage de drone

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