Method for measuring the distance between two points in space and telemetry system for implementing such a method

Abstract

The invention relates to a method for measuring the distance between a first point (C1) in space and a second point (C2) in space, the method comprising the following steps: a) providing a spatial reference device (20) comprising a first reference point (O) and a telemetry means (30); b) positioning the spatial reference device in space (20); c) determining the relative position between the first reference point (O) and the first point (C1); d) determining the relative position between the first reference point (O) and the second point (C2); e) calculating the distance between the first point (C1) and the second point (C2) from the relative position between the reference point and the first point (C1) and the relative position between the reference point and the second point (C2).

Description

[0001] Description

[0002] Title of the invention: Method for measuring the distance between two points in space and telemetry system for implementing such a method

[0003] The present invention relates to a method for measuring the distance between two points in space and a telemetry system for implementing such a method.

[0004] In a known manner, a method for measuring the distance between two points using a telemetry means comprising a rangefinder is generally implemented by placing a reference point present on a housing of the telemetry means in juxtaposition with one of the two points and pointing the rangefinder at the other point among the two points, for example using a laser beam. Considering a fixed distance between the reference point and the rangefinder, the distance between the point placed in juxtaposition with the reference point and the pointed point of the rangefinder can be calculated.

[0005] This method of measuring the distance between two points is disadvantageous when the two points for which the relative distance is to be determined are difficult to access, because they are located high below the floor of a room for example and / or because of an obstacle preventing the juxtaposition of the reference point of the telemetry means and / or preventing the pointing of the other of the two points by the telemeter.

[0006] Document FR 2 988 829 A1 discloses a telemetry method implemented by a telemetry means provided with two rangefinders in the form of laser beam emission means. The telemetry means makes it possible to determine an angle between the laser beam emitted by each of the rangefinders. To determine a distance between two points using this telemetry means, the first rangefinder among the rangefinders is aligned with a first point among these two points and the second rangefinder among the rangefinders is aligned with a second point among these two points. Then, the distance between the telemetry means and each of the two points and the angle formed between the two laser beams is measured. Using the distance between the telemetry means and each of the points and the angle formed between the two laser beams, the distance between the two points can be calculated.

[0007] This method is difficult to implement, especially for a user with little experience in telemetry, since the method requires that the two points, for which the relative distance is to be determined, are each simultaneously pointed at with their own laser beam.

[0008] It is an object of the present application to propose a method for measuring the distance between two points in space which is easy to implement by a user.

[0009] To this end, the present invention relates to a method for measuring the distance between a first point in space and a second point in space, comprising the following steps: a) providing a spatial reference device comprising a first reference point and at least two reference radio transceivers, i.e. a first reference radio transceiver and a second reference radio transceiver, and a ranging means provided with a second reference point, at least one positioning radio transceiver and at least one range finder; b) positioning the spatial reference device in space; c) determining the relative position between the first reference point and the first point i. by positioning the range finder in space, ii. by determining the distance between the second reference point of the range finder and the first point using the range finder, iii.by determining the relative position between the first reference point of the spatial reference device and the second reference point of the telemetry means from at least one radio signal transmitted between the reference radio transceivers and the positioning radio transceiver, iv. by determining the orientation of the telemetry means in space, v. by calculating the relative position between the second reference point and the first point from the distance between the second reference point and the first point, the relative position between the spatial reference device and the second reference point and the orientation of the telemetry means in space, d) determining the relative position between the first reference point and the second point i. by positioning the telemetry means in space, ii.by determining the distance between the second reference point of the telemetry means and the second point using the telemeter, iii. by determining the relative position between the first reference point of the spatial reference device and the second reference point of the telemetry means from at least one radio signal transmitted between the reference radio transceivers and the positioning radio transceiver, iv. by determining the orientation of the telemetry means in space, v.by calculating the relative position between the second reference point and the second point from the distance between the second reference point and the second point, the relative position between the spatial reference device and the second reference point and the orientation of the telemetry means in space, e) calculating the distance between the first point and the second point from the relative position between the reference point and the first point and the relative position between the reference point and the second point.

[0010] The distance measuring method according to the invention makes it possible to take a measurement between the two points in space by successively pointing at each of the two points using the rangefinder. The method according to the invention makes it possible to easily measure a distance between two points, even if the latter are difficult to access, such as points located high up below a ceiling or roof or located in an unsecured building.

[0011] Preferably, following the spatial positioning of the spatial reference device, the spatial reference device is maintained in the same position during at least steps c) and d).

[0012] According to a possible additional feature, the telemetry means is provided with a gyroscope and the method is characterized in that, in steps c).iv and d).iv, the orientation of the telemetry means in space is determined using the gyroscope.

[0013] According to one possibility, in steps c).iii and d).iii, the relative position between the first reference point and the second reference point is calculated:

[0014] - by transmitting, from the positioning radio transceiver, a first request radio signal to the first reference transceiver and a second request radio signal to the second reference transceiver,

[0015] - by transmitting, from the first reference transceiver, a first response radio signal to the positioning radio transceiver after receiving the first request radio signal and by transmitting, from the second reference transceiver, a second response radio signal to the positioning radio transceiver after receiving the second request radio signal,

[0016] - by receiving the first response radio signal and the second response radio signal at the positioning radio transceiver,

[0017] - by determining a first response time elapsed between the transmission of the first request radio signal and the reception of the first response radio signal at the positioning radio transceiver,

[0018] - by determining a second response time elapsed between the transmission of the second request radio signal and the reception of the second response radio signal at the positioning radio transceiver,

[0019] - by determining a first angle between the first response radio signal incident to the positioning radio transceiver and the second response radio signal incident to the positioning radio transceiver, and

[0020] - by calculating the relative position between the first reference point and the second reference point from the first response time, the second response time and the first angle.

[0021] According to a preferred embodiment variant, the spatial reference device further comprising a third reference radio transceiver, method characterized in that, in steps c).iii and d).iii, the relative position between the first reference point and the second reference point is calculated: by transmitting, from the positioning radio transceiver, a first request radio signal to the first reference transceiver, a second request radio signal to the second reference transceiver and a third request radio signal to the third reference transceiver,

[0022] - by transmitting, from the first reference transceiver, a first response radio signal to the positioning radio transceiver after receiving the first request radio signal, by transmitting, from the second reference transceiver, a second response radio signal to the positioning radio transceiver after receiving the second request radio signal and by transmitting, from the third reference transceiver, a third response radio signal to the positioning radio transceiver after receiving the third request radio signal,

[0023] - by receiving the first response radio signal, the second response radio signal and the third response radio signal at the positioning radio transceiver,

[0024] - by determining a first response time elapsed between the transmission of the first request radio signal and the reception of the first response radio signal at the positioning radio transceiver,

[0025] - by determining a second response time elapsed between the transmission of the second request radio signal and the reception of the second response radio signal at the positioning radio transceiver,

[0026] - by determining a third response time elapsed between the transmission of the third request radio signal and the reception of the third response radio signal at the positioning radio transceiver, and

[0027] - by calculating the relative position between the first reference point and the second reference point from the first response time, the second response time and the third response time.

[0028] According to a possible additional feature, the spatial reference device further comprising a third reference radio transceiver, the first reference radio transceiver, the second reference radio transceiver, the third reference radio transceiver and the positioning radio transceiver each having a clock, a method characterized in that, in steps c).iii and d).iii, the relative position between the first reference point and the second reference point is calculated: - by synchronizing each of the clocks of the reference radio transceivers and of the positioning radio transceiver,

[0029] - by transmitting, from the positioning radio transceiver, a first request radio signal to the first reference transceiver, a second request radio signal to the second reference transceiver and a third request radio signal to the third reference transceiver,

[0030] - by receiving the first request radio signal at the first reference radio transceiver and by storing a first date of receipt of the first request radio signal corresponding to the date indicated by the clock of the first reference radio transceiver at the time of receipt of the first request radio signal by the first reference radio transceiver,

[0031] - by receiving the second request radio signal at the second reference radio transceiver and by storing a second date of receipt of the second request radio signal corresponding to the date indicated by the clock of the second reference radio transceiver at the time of receipt of the second request radio signal by the second reference radio transceiver,

[0032] - by receiving the third request radio signal at the third reference radio transceiver and by storing a third date of receipt of the third request radio signal corresponding to the date indicated by the clock of the third reference radio transceiver at the time of receipt of the third request radio signal by the third reference radio transceiver, and

[0033] - by calculating the relative position between the first reference point and the second reference point from the first date, the second date and the third date.

[0034] According to one possibility, the radio signal and / or the first request radio signal and / or the first response radio signal and / or the second request radio signal and / or the second response radio signal and / or the third request radio signal and / or the third response radio signal is / are an ultra-wideband signal / signals. The invention also relates to a telemetry system for implementing the method according to the invention. The telemetry system comprises a spatial reference device having a first reference point and at least two reference radio transceivers, i.e. a first reference radio transceiver and a second reference radio transceiver, and a telemetry means provided with a second reference point, at least one positioning radio transceiver and at least one rangefinder.

[0035] The telemetry system according to the invention makes it possible to take a measurement between two points in space by successively pointing at each of the two points using the telemeter. The telemetry system according to the invention makes it possible to easily measure a distance between two points, even if the latter are difficult to access, such as points located high up below a ceiling or roof or located in an unsecured building.

[0036] According to a possible additional feature, the telemetry means is provided with a gyroscope.

[0037] According to a preferred variant of the invention, the spatial reference device further comprises a third reference radio transmitter-receiver.

[0038] Preferably, the first reference radio transceiver, the second reference radio transceiver, the third reference radio transceiver and the positioning radio transceiver each have a clock.

[0039] According to one possibility, the first reference radio transceiver and / or the second reference radio transceiver and / or the third reference radio transceiver and / or the positioning radio transceiver is / are ultra-wideband transceiver(s).

[0040] The invention will be better understood from the following description, which relates to a preferred embodiment, given as a non-limiting example, and explained with reference to the appended schematic drawings, in which:

[0041] [Fig.1] is a schematic representation of a spatial reference device of a telemetry system according to a preferred embodiment of the invention;

[0042] [Fig.2] is a schematic representation of a telemetry means of the telemetry system according to the preferred embodiment of the invention;

[0043] [Fig.3] is a schematic representation of an alignment of the telemetry system according to the preferred embodiment of the invention during the execution of step c) of a method for measuring the distance between two points according to the invention;

[0044] [Fig.4] is a schematic representation of the alignment of the telemetry system according to the preferred embodiment of the invention during the execution of step d) of the method for measuring the distance between two points according to the invention; and [Fig.5] is a schematic representation of step e) of the method for measuring the distance between two points according to the invention.

[0045] The subject of the present application is a telemetry system 10 and a method for measuring the distance between a first point C1 in space and a second point C2 in space implemented using such a telemetry system 10.

[0046] The telemetry system 10 comprises a spatial reference device 20 comprising a first reference point O and at least two reference radio transceivers 21, 22, 23, 24, i.e. a first reference radio transceiver 21 and a second reference radio transceiver 22, and a telemetry means 30 provided with a second reference point T, at least one positioning radio transceiver 32 and at least one rangefinder 34. The spatial reference device 20 is shown in Figure 1 and the telemetry means 30 is shown in Figure 2.

[0047] The spatial reference device 20 may comprise a support in the form of a tripod.

[0048] The telemetry means 30 may comprise a housing 38. The housing 38 may integrate the positioning radio transceiver 32 and the rangefinder 34. The telemetry means 30 may further comprise a display means 36 for a user, such as an OLED screen. The display means 36 allows the display of a result of a calculation such as the distance between the first point C1 and the second point C2 to the user.

[0049] The rangefinder 34 may be a laser rangefinder. The two points C1, C2 may be successively pointed using the rangefinder, for example by emitting a laser beam from the rangefinder 34 in the direction of the point C1, C2.

[0050] The telemetry means 30 and the reference radio transceivers 21, 22, 23, 24 can each be provided with a processing unit, a memory and an electrical power source such as a battery.

[0051] The battery may be a lithium-ion accumulator type battery, preferably a lithium-ion polymer accumulator type.

[0052] The telemetry means 30 may be provided with a gyroscope. The gyroscope makes it possible to determine the orientation of the telemetry means 30 relative to the horizontal. The gyroscope may be integrated in the housing 38. The relative position of the gyroscope and the first reference point O may be fixed. The relative position of the gyroscope and the first reference point O may be known. The gyroscope may be a six-degree-of-freedom gyroscope. Alternatively, the spatial reference device 20 may comprise a camera and the telemetry means 30 may be provided with at least one visual marker, preferably at least two visual markers. The visual markers are visible on the outside of the telemetry means 30. The visual markers may, for example, be arranged on the housing 38.The orientation of the telemetry means 30 may be determined by capturing an image of the telemetry means 30 in which at least one visual marker among the visual markers is visible, preferably at least two visual markers among the visual markers, and performing an analysis of the markers in the captured image. Thus, the position of the markers relative to the camera may be determined, which makes it possible to calculate the orientation of the telemetry means 30 in space. The markers may be passive reflective markers or take the form of two-dimensional optical markings.

[0053] Alternatively, the telemetry means 30 may be provided with an additional positioning radio transceiver. The positioning radio transceiver 32 and the additional positioning radio transceiver make it possible to determine the orientation of the telemetry means 30 relative to the spatial reference device 20 and / or relative to the first reference point O. The telemetry means 30 may further be provided with an accelerometer.

[0054] The spatial reference device 20 may also be provided with a gyroscope to determine the position of the reference radio transceivers 21, 22, 23, 24 relative to the horizontal.

[0055] The first reference point O is a point in space having the Cartesian coordinates Xo, Yo, Zo. The position of each reference radio transmitter-receiver 21, 22, 23, 24 relative to the first reference point O is known. The second reference point T may be a point located on one of the sides of the housing 38 of the telemetry means 30.

[0056] According to one possibility, the spatial reference device 20 may further comprise a third reference radio transceiver 23. Thus, determining the distance between the positioning radio transceiver 32 and each reference radio transceiver 21, 22, 23, 24 makes it possible to calculate the relative position between the positioning radio transceiver 32 and the spatial reference device 20.

[0057] According to one possibility, the spatial reference device 20 may further comprise a fourth reference radio transceiver 24. The fourth reference radio transceiver 24 adds a redundancy which makes it possible to obtain an overdetermined equation system for determining the relative position between the positioning radio transceiver 32 and the spatial reference device 20.

[0058] According to a preferred variant, the first reference radio transceiver 21, the second reference radio transceiver 22, the third reference radio transceiver 23 and the positioning radio transceiver 32 may each have a clock. The clock may be an integral part of the processing unit of the reference radio transceiver 21, 22, 23, 24.

[0059] The reference radio transmitters-receivers 21, 22, 23, 24 make it possible to model a reference frame for the Cartesian coordinates Xo, Yo, Zo.

[0060] According to one possibility, the first reference radio transceiver 21 and / or the second reference radio transceiver 22 and / or the third reference radio transceiver 23 and / or the positioning radio transceiver 32 is / are ultra-wideband transceiver(s).

[0061] Ultra wideband is a radio modulation technique based on the transmission of very short pulses, often less than a nanosecond, and over a wide frequency spectrum. Thus, the bandwidth can reach very large values. Typically, ultra wideband has a bandwidth-to-center frequency ratio of at least 20%, or a bandwidth of 250 MHz or more. The use of ultra wideband makes it possible to accurately determine the relative position between the positioning radio transceiver 32 and the spatial reference device 20.

[0062] The telemetry system 10 according to the present application makes it possible to take a measurement between two points 01, 02 by successively pointing the latter using the telemeter 34 at the two points 01, 02 in space. Unlike a conventional telemeter which requires positioning the device at the initial point of the distance to be measured, the telemetry system 10 according to the present application will have a fixed reference point O.

[0063] The method according to the present application comprises the following steps: a) providing a spatial reference device 20 comprising a first reference point O and at least two reference radio transceivers 21, 22, 23, 24, i.e. a first reference radio transceiver 21 and a second reference radio transceiver 22, a telemetry means 30 provided with a second reference point T, at least one positioning radio transceiver 32 and at least one range finder 34; b) positioning in space the spatial reference device 20; c) determining the relative position between the first reference point O and the first point C1 i. by positioning in space the telemetry means 30, ii. by determining the distance between the second reference point T of the telemetry means 30 and the first point C1 using the range finder 34, iii.by determining the relative position between the first reference point O of the spatial reference device 20 and the second reference point T of the telemetry means 30 from at least one radio signal transmitted between the reference radio transceivers 21, 22, 23, 24 and the positioning radio transceiver 32, iv. by determining the orientation of the telemetry means 30 in space, v. by calculating the relative position between the second reference point T and the first point C1 from the distance between the second reference point T and the first point C1, the relative position between the spatial reference device 20 and the second reference point T and the orientation of the telemetry means 30 in space, d) determining the relative position between the first reference point O and the second point C2 i. by positioning the telemetry means 30 in space, ii.by determining the distance between the second reference point T of the telemetry means 30 and the second point C2 using the telemeter 34, iii. by determining the relative position between the first reference point O of the spatial reference device 20 and the second reference point T of the telemetry means 30 from at least one radio signal transmitted between the reference radio transceivers 21, 22, 23, 24 and the positioning radio transceiver 32, iv. by determining the orientation of the telemetry means 30 in space, v.by calculating the relative position between the second reference point T and the second point C2 from the distance between the second reference point T and the second point C2, from the relative position between the spatial reference device 20 and the second reference point T and from the orientation of the telemetry means 30 in space, e) calculating the distance between the first point C1 and the second point C2 from the relative position between the reference point and the first point C1 and the relative position between the reference point and the second point C2.

[0064] In steps c).iv and d).iv, the orientation of the telemetry means 30 in space can be determined using the gyroscope of the telemetry means 30.

[0065] The determination of the relative position between the first reference point O of the spatial reference device 20 and the second reference point T of the telemetry means 30 in steps c).iii and d).iii can be carried out using separate methods.

[0066] A first method for determining the relative position between the first reference point O and the second reference point T is based on bidirectional communication between the reference radio transceivers 21, 22, 23, 24 and the positioning radio transceiver 32. During their communication, all these radio transceivers 21, 22, 23, 24, 32 measure the time it takes them to receive the data (Time of Flight) of the radio signal between them. By multiplying the round trip time of the signal by the speed of light, then dividing it by 2, the actual distance between the spatial reference device 20 and the telemetry means 30 is obtained with this method. On this basis, it is possible to obtain a 2D or even 3D location by measuring the distance between the reference radio transceivers 21, 22, 23, 24 and the positioning radio transceiver 32.

[0067] According to this first method, in steps c).iii and d).iii, the relative position between the first reference point O and the second reference point T is calculated:

[0068] - by transmitting, from the positioning radio transceiver 32, a first request radio signal to the first reference transceiver 21 and a second request radio signal to the second reference transceiver 22, - by transmitting, from the first reference transceiver 21, a first response radio signal to the positioning radio transceiver 32 after receiving the first request radio signal and by transmitting, from the second reference transceiver 22, a second response radio signal to the positioning radio transceiver 32 after receiving the second request radio signal,

[0069] - by receiving the first response radio signal and the second response radio signal at the positioning radio transceiver 32,

[0070] - by determining a first response time elapsed between the transmission of the first request radio signal and the reception of the first response radio signal at the positioning radio transceiver 32,

[0071] - by determining a second response time elapsed between the transmission of the second request radio signal and the reception of the second response radio signal at the positioning radio transceiver 32,

[0072] - by determining a first angle between the first response radio signal incident to the positioning radio transceiver 32 and the second response radio signal incident to the positioning radio transceiver 32, and

[0073] - by calculating the relative position between the first reference point O and the second reference point T from the first response time, the second response time and the first angle.

[0074] According to a variant of this first method, in steps c).iii and d).iii, the relative position between the first reference point O and the second reference point T is calculated:

[0075] - by transmitting, from the positioning radio transceiver 32, a first request radio signal to the first reference transceiver 21, a second request radio signal to the second reference transceiver 22 and a third request radio signal to the third reference transceiver 23,

[0076] - by transmitting, from the first reference transceiver 21, a first response radio signal to the positioning radio transceiver 32 after receiving the first request radio signal, by transmitting, from the second reference transceiver 22, a second response radio signal to the positioning radio transceiver 32 after receiving the second request radio signal and by transmitting, from the third reference transceiver 23, a third response radio signal to the positioning radio transceiver 32 after receiving the third request radio signal,

[0077] - by receiving the first response radio signal, the second response radio signal and the third response radio signal at the positioning radio transceiver 32,

[0078] - by determining a first response time elapsed between the transmission of the first request radio signal and the reception of the first response radio signal at the positioning radio transceiver 32,

[0079] - by determining a second response time elapsed between the transmission of the second request radio signal and the reception of the second response radio signal at the positioning radio transceiver 32,

[0080] - by determining a third response time elapsed between the transmission of the third request radio signal and the reception of the third response radio signal at the positioning radio transceiver 32, and

[0081] - by calculating the relative position between the first reference point O and the second reference point T from the first response time, the second response time and the third response time.

[0082] Alternatively, instead of sending a first request radio signal to the first reference transceiver 21, a second request radio signal to the second reference transceiver 22 and a third request radio signal to the third reference transceiver 23, a single signal may be transmitted to the first reference transceiver 21, the second reference transceiver 22 and the third reference transceiver 23, using a single radio signal broadcast to the reference transceivers 21, 22, 23, 24.

[0083] A second method for determining the relative position between the first reference point O and the second reference point T is based on a measurement of the difference in the reception time of a signal (English: Phase Difference of Arrival (PDoA). This method consists of combining the distance between two devices with the measurement of the angle difference between these two. The combination of distance and angle makes it possible to calculate the relative position.

[0084] According to this second method, in steps c).iii and d).iii, the relative position between the first reference point O and the second reference point T is calculated: - by synchronizing each of the clocks of the reference radio transceivers 21, 22, 23, 24 and of the positioning radio transceiver 32,

[0085] - by transmitting, from the positioning radio transceiver 32, a first request radio signal to the first reference transceiver 21, a second request radio signal to the second reference transceiver 22 and a third request radio signal to the third reference transceiver 23,

[0086] - by receiving the first request radio signal at the first reference radio transceiver 21 and by storing a first date of reception of the first request radio signal corresponding to the date indicated by the clock of the first reference radio transceiver 21 at the time of reception of the first request radio signal by the first reference radio transceiver 21,

[0087] - by receiving the second request radio signal at the second reference radio transceiver 22 and by storing a second date of reception of the second request radio signal corresponding to the date indicated by the clock of the second reference radio transceiver 22 at the time of reception of the second request radio signal by the second reference radio transceiver 22,

[0088] - by receiving the third request radio signal at the third reference radio transceiver 23 and by storing a third date of reception of the third request radio signal corresponding to the date indicated by the clock of the third reference radio transceiver 23 at the time of reception of the third request radio signal by the third reference radio transceiver 23, and

[0089] - by calculating the relative position between the first reference point O and the second reference point T from the first date, the second date and the third date.

[0090] According to one possibility, the radio signal and / or the first request radio signal and / or the first response radio signal and / or the second request radio signal and / or the second response radio signal and / or the third request radio signal and / or the third response radio signal is / are ultra-wideband signal(s). According to a possible additional feature, in steps c).iv and d).iv, the orientation of the telemetry means 30 can be determined by determining the relative position between the first reference point O and the positioning radio receiver 32 as well as the relative position between the first reference point O and the additional positioning radio receiver. The method steps c).iii and d).iii allowing the relative position to be determined between the first reference point O of the spatial reference device 20 and the second reference point T of the telemetry means 30 also allowing the relative position to be determined between the first reference point O and the positioning radio receiver 32.

[0091] According to one possibility, the relative position between the first reference point O and the additional positioning radio receiver can be determined:

[0092] - by transmitting, from the additional positioning radio transceiver, a fourth request radio signal to the first reference transceiver 21 and a fifth request radio signal to the second reference transceiver 22,

[0093] - by transmitting, from the first reference transceiver 21, a fourth response radio signal to the additional positioning radio transceiver after receiving the fourth request radio signal and by transmitting, from the second reference transceiver 22, a fifth response radio signal to the additional positioning radio transceiver after receiving the fifth request radio signal,

[0094] - by receiving the fourth response radio signal and the fifth response radio signal at the additional positioning radio transceiver,

[0095] - by determining a fourth response time elapsed between the transmission of the fourth request radio signal and the reception of the fourth response radio signal at the additional positioning radio transceiver,

[0096] - by determining a fifth response time elapsed between the transmission of the fifth request radio signal and the reception of the fifth response radio signal at the additional positioning radio transceiver,

[0097] - by determining a second angle between the fourth response radio signal incident to the additional positioning radio transceiver and the fifth response radio signal incident to the additional positioning radio transceiver, and

[0098] - by calculating the relative position between the first reference point O and the additional positioning radio transceiver from the fourth response time, the fifth response time and the second angle.

[0099] Alternatively, the relative position between the first reference point O and the additional positioning radio receiver can be determined:

[0100] - by transmitting, from the additional positioning radio transceiver, a fourth request radio signal to the first reference transceiver 21, a fifth request radio signal to the second reference transceiver 22 and a sixth request radio signal to the third reference transceiver 23,

[0101] - by transmitting, from the first reference transceiver 21, a fourth response radio signal to the additional positioning radio transceiver after receiving the fourth request radio signal, by transmitting, from the second reference transceiver 22, a fifth response radio signal to the additional positioning radio transceiver after receiving the fifth request radio signal and by transmitting, from the third reference transceiver 23, a sixth response radio signal to the additional positioning radio transceiver after receiving the sixth request radio signal,

[0102] - by receiving the fourth response radio signal, the fifth response radio signal and the sixth response radio signal at the additional positioning radio transceiver,

[0103] - by determining a fourth response time elapsed between the transmission of the fourth request radio signal and the reception of the fourth response radio signal at the additional positioning radio transceiver,

[0104] - by determining a fifth response time elapsed between the transmission of the fifth request radio signal and the reception of the fifth response radio signal at the additional positioning radio transceiver,

[0105] - by determining a sixth response time elapsed between the transmission of the sixth request radio signal and the reception of the sixth response radio signal at the additional positioning radio transceiver, and

[0106] - by calculating the relative position between the first reference point O and the additional positioning radio transceiver from the fourth response time, the fifth response time and the sixth response time.

[0107] Alternatively, the relative position between the first reference point O and the additional positioning radio receiver can be determined:

[0108] - by synchronizing each of the clocks of the reference radio transceivers 21, 22, 23, 24 and of the positioning radio transceiver 32 with a clock of the additional positioning radio transceiver,

[0109] - by transmitting, from the additional positioning radio transceiver, a fourth request radio signal to the first reference transceiver 21, a fifth request radio signal to the second reference transceiver 22 and a sixth request radio signal to the third reference transceiver 23,

[0110] - by receiving the fourth request radio signal at the first reference radio transceiver 21 and by storing a fourth date of reception of the fourth request radio signal corresponding to the date indicated by the clock of the first reference radio transceiver 21 at the time of reception of the fourth request radio signal by the first reference radio transceiver 21,

[0111] - by receiving the fifth request radio signal at the second reference radio transceiver 22 and by storing a fifth date of reception of the fifth request radio signal corresponding to the date indicated by the clock of the second reference radio transceiver 22 at the time of reception of the fifth request radio signal by the second reference radio transceiver 22, - by receiving the sixth request radio signal at the third reference radio transceiver 23 and by storing a sixth date of reception of the sixth request radio signal corresponding to the date indicated by the clock of the third reference radio transceiver 23 at the time of reception of the sixth request radio signal by the third reference radio transceiver 23, and

[0112] - by calculating the relative position between the first reference point O and the additional positioning transceiver from the fourth date, the fifth date and the sixth date. The spatial reference device 20 has the first original reference point O (Xo; Yo; Zo). The telemetry means 30 can be positioned and oriented in space according to the reference point T (Xt; Yt; Zt). The distance from the telemeter 34 to the first point C1 makes it possible to obtain a positioning in space of the first point C1 (Xc1; Yc1; Zc1) relative to the reference point O. The distance from the telemeter 34 to the second point C2 makes it possible to obtain a positioning in space of the second point C2 (Xc2; Yc2; Zc2) relative to the reference point O. The distance between the two points C1 and C2 can then be calculated.

Claims

Demands

1. A method for measuring the distance between a first point (C1) in space and a second point (C2) in space, comprising the following steps: a) providing a spatial reference device (20) comprising a first reference point (O) and at least two reference radio transceivers (21, 22, 23, 24), i.e. a first reference radio transceiver (21) and a second reference radio transceiver (22), a telemetry means (30) provided with a second reference point (T), at least one positioning radio transceiver (32) and at least one rangefinder (34); b) positioning the spatial reference device (20) in space; c) determining the relative position between the first reference point (O) and the first point (C1) i. by positioning the telemetry means (30) in space, ii.by determining the distance between the second reference point (T) of the telemetry means (30) and the first point (C1) using the rangefinder (34), iii. by determining the relative position between the first reference point (O) of the spatial reference device (20) and the second reference point (T) of the telemetry means (30) from at least one radio signal transmitted between the reference radio transceivers (21, 22, 23, 24) and the positioning radio transceiver (32), iv. by determining the orientation of the telemetry means (30) in space, v. by calculating the relative position between the second reference point (T) and the first point (C1) from the distance between the second reference point (T) and the first point. (C1), of the relative position between the spatial reference device (20) and the second reference point (T) and of the orientation of the telemetry means (30) in space, d) determination of the relative position between the first reference point (O) and the second point (C2) i. by positioning the telemetry means (30) in space, ii. by determining the distance between the second reference point (T) of the telemetry means (30) and the second point (C2) using the rangefinder (34), iii. by determining the relative position between the first reference point (O) of the spatial reference device (20) and the second reference point (T) of the telemetry means (30) from at least one radio signal transmitted between the reference radio transceivers (21, 22, 23, 24) and the positioning radio transceiver (32), iv. by determining the orientation of the telemetry means (30) in space, v.by calculating the relative position between the second reference point (T) and the second point (C2) from the distance between the second reference point (T) and the second point (C2), the relative position between the spatial reference device (20) and the second reference point (T) and the orientation of the telemetry means (30) in space, e) calculation of the distance between the first point (C1) and the second point (C2) from the relative position between the reference point and the first point (C1) and the relative position between the reference point and the second point (C2).

2. A method according to the preceding claim, the telemetry means (30) being provided with a gyroscope, a method characterized in that, in steps c).iv and d).iv, the orientation of the telemetry means (30) in space is determined using the gyroscope.

3. A method according to any one of the preceding claims, characterized in that, in steps c).iii and d).iii, the relative position between the first reference point (O) and the second reference point (T) is calculated: - by emitting, from the positioning radio transceiver (32), a first radio request signal to the first reference transceiver (21) and a second radio request signal to the second reference transceiver (22), - by transmitting, from the first reference transceiver (21), a first radio response signal to the positioning radio transceiver (32) after receiving the first request radio signal, and by transmitting, from the second reference transceiver (22), a second radio response signal to the positioning radio transceiver (32) after receiving the second request radio signal, - by receiving the first radio reply signal and the second radio reply signal at the radio positioning transceiver (32), - by determining an initial response time elapsed between the transmission of the first request radio signal and the reception of the first response radio signal at the level of the positioning radio transceiver (32), - by determining a second response time elapsed between the transmission of the second request radio signal and the reception of the second response radio signal at the level of the positioning radio transceiver (32), - by determining a first angle between the first incident radio response signal to the radio positioning transceiver (32) and the second incident radio response signal to the radio positioning transceiver (32), and - by calculating the relative position between the first reference point (O) and the second reference point (T) from the first response time, the second response time and the first angle.

4. A method according to any one of claims 1 or 2, the spatial reference device (20) further comprising a third reference radio transceiver (23), a method characterized in that, in steps c).iii and d).iii, the relative position between the first reference point (O) and the second reference point (T) is calculated: - by emitting, from the positioning radio transceiver (32), a first radio request signal to the first reference transceiver (21), a second radio request signal to the second reference transceiver (22) and a third radio request signal to the third reference transceiver (23), - by transmitting, from the first reference transceiver (21), a first radio response signal to the positioning radio transceiver (32) after receiving the first radio request signal, by transmitting, from the second reference transceiver (22), a second radio response signal to the positioning radio transceiver (32) after receiving the second radio request signal, and by transmitting, from the third reference transceiver (23), a third radio response signal to the positioning radio transceiver (32) after receiving the third radio request signal, - by receiving the first radio reply signal, the second radio reply signal and the third radio reply signal at the level of the radio positioning transceiver (32), - by determining an initial response time elapsed between the transmission of the first request radio signal and the reception of the first response radio signal at the level of the positioning radio transceiver (32), - by determining a second response time elapsed between the transmission of the second request radio signal and the reception of the second response radio signal at the level of the positioning radio transceiver (32), - by determining a third response time elapsed between the transmission of the third request radio signal and the reception of the third response radio signal at the level of the positioning radio transceiver (32), and - by calculating the relative position between the first reference point (O) and the second reference point (T) from the first response time, the second response time and the third response time.

5. A method according to any one of claims 1 or 2, the spatial reference device (20) further comprising a third reference radio transceiver (23), the first reference radio transceiver (21), the second reference radio transceiver (22), the third reference radio transceiver (23) and the positioning radio transceiver (32) each having a clock, a method characterized in that, in steps c).iii and d).iii, the relative position between the first reference point (O) and the second reference point (T) is calculated: - by synchronizing each of the clocks of the reference radio transceivers (21, 22, 23, 24) and the positioning radio transceiver (32), - by emitting, from the positioning radio transceiver (32), a first radio request signal to the first reference transceiver (21), a second radio request signal to the second reference transceiver (22) and a third radio request signal to the third reference transceiver (23), - by receiving the first radio request signal at the first reference radio transceiver (21) and by storing a first date of reception of the first radio request signal corresponding to the date indicated by the clock of the first transmitter- reference radio receiver (21) at the time of reception of the first radio request signal by the first reference radio transceiver (21), - by receiving the second radio request signal at the second reference radio transceiver (22) and by storing a second date of receipt of the second radio request signal corresponding to the date indicated by the clock of the second reference radio transceiver (22) at the time of receipt of the second radio request signal by the second reference radio transceiver (22), - by receiving the third radio request signal at the third reference radio transceiver (23) and storing a third date of receipt of the third radio request signal corresponding to the date indicated by the clock of the third reference radio transceiver (23) at the time of receipt of the third radio request signal by the third reference radio transceiver (23), and - by calculating the relative position between the first reference point (O) and the second reference point (T) from the first date, the second date and the third date.

6. A method according to any one of the preceding claims, characterized in that the radio signal and / or the first request radio signal and / or the first response radio signal and / or the second request radio signal and / or the second response radio signal and / or the third request radio signal and / or the third response radio signal is / are an ultra-wideband signal / signals.

7. A telemetry system for implementing the method according to any one of the preceding claims, comprising: - a spatial reference device (20) comprising a first reference point (O) and at least two reference radio transceivers (21, 22, 23, 24), i.e. a first reference radio transceiver (21) and a second reference radio transceiver (22), and; - a telemetry means (30) provided with a second reference point (T), at least one radio positioning transceiver (32) and at least one rangefinder (34).

8. Telemetry system according to the preceding claim, characterized in that the telemetry means (30) is provided with a gyroscope.

9. Telemetry system according to any one of claims 7 or 8, characterized in that the spatial reference device (20) further comprises a third radio reference transceiver (23).

10. Telemetry system according to claim 9, characterized in that the first reference radio transceiver (21), the second reference radio transceiver (22), the third reference radio transceiver (23) and the positioning radio transceiver (32) each have a clock. [Claim 1 1] Telemetry system according to any one of claims 6 to 9, characterized in that the first reference radio transceiver (21 ) and / or the second reference radio transceiver (22) and / or the third reference radio transceiver (23) and / or the positioning radio transceiver (32) is / are an / are ultra-wideband transceiver(s).

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