Simple positioning method and simple positioning device

Abstract

This provides a simple positioning method that allows for the determination of a target location in space with minimal effort, while maintaining a certain level of accuracy. [Solution] A simple positioning method for positioning a position target location P1 set in space from a distance position, comprising: a shooting step of using a 3D camera to capture the position target location P1 and three arbitrary reference locations P2, P3, P4 that are different from each other in a single frame; a distance separation derivation step of determining the distance between each location from the position target location P1 to the reference locations P2, P3, P4 based on the image captured in the shooting step; a reference coordinate acquisition step of acquiring reference coordinates corresponding to the reference locations P2, P3, P4 using the VRS method; and a coordinate calculation step of calculating the coordinates of the position target location P1 based on the distance separation of each location derived in the distance separation derivation step and the reference coordinates obtained in the reference coordinate acquisition step.

Description

[Technical Field]

[0001] This invention relates to a simple positioning method and a simple positioning device. [Background technology]

[0002] Traditionally, specialized positioning devices such as total stations have been used to determine the coordinates (latitude, longitude, and height) of any object in space. Total stations are commonly used at civil engineering and construction sites, and are positioning devices used for surveying roads, bridges, building foundations, and other structures. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 09-242339 [Overview of the project] [Problems that the invention aims to solve]

[0004] Total stations use laser light for measurement, resulting in extremely high measurement accuracy, enabling precise measurements down to the millimeter.

[0005] However, the measurement process requires not only complicated preparation work such as setting known coordinate points, erecting the tripod, mounting the total station on the tripod, leveling, sighting adjustment, powering on, and initial adjustment, but also sometimes an assistant is needed to set up the target.

[0006] Therefore, when the positioning target locations are at high or low altitudes that workers cannot easily access, individually surveying numerous positioning target locations set in space using a total station would result in an enormous amount of work, requiring not only long-term surveying work but also high labor costs.

[0007] The objective of the present invention is to provide a simple positioning method and a simple positioning device that enable a single operator to determine the position of a target location set in space with a simple operation, while maintaining a certain degree of accuracy. [Means for solving the problem]

[0008] To achieve the above objective, the first characteristic configuration of the simplified positioning method according to the present invention is empty This is a simple positioning method for positioning a target position P1 set between two positions from a distanced position, comprising: a relative position measurement step of measuring the distance and elevation or depression angle to the target position P1 using a laser rangefinder attached via an attitude adjustment mechanism that can change the elevation or depression angle; a reference coordinate acquisition step of obtaining the coordinates of the laser rangefinder using a VRS-based GNSS positioning device; and a calculation step of calculating the coordinates of the target position P1 using a calculation device to which the distance and elevation or depression angle to the target position P1 measured in the relative position measurement step, the coordinates of the laser rangefinder obtained in the reference coordinate acquisition step, and the direction angle to the target position P1 are input.

[0009] In the relative position measurement step, the distance and elevation or depression angle to the positioning target position P1 measured by the laser rangefinder are used, and in the reference coordinate acquisition step, the coordinates of the laser rangefinder obtained by a pair of VRS-based GNSS positioning devices and the direction angle from the laser rangefinder to the positioning target position P1 are used to calculate the coordinates of the positioning target position P1. Similar to the first characteristic configuration, even in situations where the measurer cannot easily approach the positioning target position P1, if the measurer can acquire the coordinates of the laser rangefinder using a VRS-based GNSS positioning device, the reference coordinates can be easily acquired, enabling positioning with simple work and in a short amount of time.

[0010] Same number two The characteristic configuration is as described above. oneIn addition to the characteristic configuration, the reference coordinate acquisition step is a step in which the coordinates of the laser rangefinder are determined by a pair of VRS-type GNSS positioning devices mounted at a predetermined distance apart from the laser rangefinder.

[0011] This system allows for simultaneous measurement of the distance to the target position P1 using a laser rangefinder and derivation of highly accurate coordinates from the laser rangefinder.

[0012] The first characteristic configuration of the simplified positioning device according to the present invention is a simplified positioning device that positions a position target position P1 set in space from a distance, comprising a laser rangefinder attached via an attitude adjustment mechanism that can adjust the elevation or depression angle, and a device attached at a predetermined distance from the laser rangefinder. A pair of GNSS positioning devices using the VRS system. The system includes a calculation device that calculates the coordinates of the positioning target position P1 from the distance and elevation or depression angle to the positioning target position P1 measured by the laser rangefinder, and the coordinates of the laser rangefinder and the direction angle to the positioning target position P1 calculated based on the GNSS positioning device.

[0013] The laser rangefinder, a pair of VRS-based GNSS positioning devices, and a computing device work in conjunction to calculate the coordinates of the positioning target location P1 from the distance and elevation or depression angle measured by the laser rangefinder, the coordinates of the laser rangefinder calculated based on the GNSS positioning devices, and the direction angle relative to the positioning target location P1.

[0014] The second characteristic configuration is that, in addition to the first characteristic configuration described above, the calculation unit includes an output unit that outputs an allowable separation distance of the pair of GNSS positioning devices based on the distance to the positioning target position P1.

[0015] The coordinate accuracy of the laser distance meter depends on the separation distance between a pair of GNSS positioning devices attached so as to sandwich the laser distance meter. When the separation distance between the laser distance meter and the positioning target position P1 is long, the degree of influence on the coordinate accuracy of the laser distance meter increases. And when the separation distance is short, the working space required for positioning can be narrowed, but when the separation distance is long, it is necessary to secure a wide working space for positioning. Therefore, by providing an output unit in the arithmetic device that outputs an allowable value of the separation distance between the pair of GNSS positioning devices based on the distance to the positioning target position P1, by adjusting the separation distance of the GNSS positioning devices, while appropriately securing the working space required for positioning, the accuracy of the coordinates of the positioning target position P1 can be ensured.

Effects of the Invention

[0016] As described above, according to the present invention, it has become possible to provide a simple positioning method and a simple positioning device that can position a positioning target position set in space with a simple operation while maintaining a certain degree of accuracy.

Brief Description of the Drawings

[0017] [Figure 1] (a) is an explanatory diagram of the simple positioning method of the first aspect, and (b) is an explanatory diagram of the simple positioning device. [Figure 2] It is a procedure explanatory diagram of the first aspect of the simple positioning method. [Figure 3] (a) is an explanatory diagram of the simple positioning method of the second aspect, and (b) is an explanatory diagram of the simple positioning device. [Figure 4] It is a procedure explanatory diagram of the second aspect of the simple positioning method. [Figure 5] It is an explanatory diagram of the simple positioning method of the second aspect.

Embodiments for Carrying Out the Invention

[0018] Hereinafter, the simple positioning method and the simple positioning device according to the present invention will be described based on the drawings. [First Aspect] A first embodiment of the simplified positioning method according to the present invention will be described with reference to Figures 1(a), (b) and 2. The simplified positioning method is a simplified positioning method that positions a position target location P1 set in space from a distanced position. This method allows for simple measurement with a certain degree of accuracy even when the position target location P1 is located at a high or low altitude and it is difficult to use a dedicated measuring device such as a tortoise station. In this example, a predetermined position on the upper floor of a high-rise building is set as the position target location P1.

[0019] As shown in Figure 1(b), the simplified positioning device 1, which performs the simplified positioning method, comprises a computer-based computing unit 4, a 3D camera 2, and a reference coordinate acquisition device 3. The 3D camera 2 and the reference coordinate acquisition device 3 are connected to the computing unit 4 via Wi-Fi or Bluetooth.

[0020] As shown in Figures 1(a) and 2, the simplified positioning method performs a reference position identification process (SA1) to identify three arbitrary reference positions P2, P3, and P4 that are different from each other in the vicinity of the positioning target position P1, which is located away from the positioning position. Then, using a 3D camera 2, it performs an image capture process (SA2) to simultaneously capture images of the four points P2, P3, and P4, along with the positioning target position P1, in a single frame. Finally, it performs a separation distance derivation process (SA3) to determine the distance SD1 between the positioning target position P1 and reference position P2, the distance SD2 between the positioning target position P1 and reference position P3, and the distance SD3 between the positioning target position P1 and reference position P4 from the images captured by the 3D camera.

[0021] Next, a reference coordinate acquisition process is performed (SA4) to acquire the reference coordinates of each of the reference positions P2, P3, and P4 identified in the reference position identification process using a reference coordinate acquisition device 3 employing the VRS method. Then, a positioning target position calculation process is performed (SA5) using the calculation device 4 to calculate the coordinates of the positioning target position P1 from the coordinates of the reference positions P2, P3, and P4 and the distances SD1, DS2, and DS3 derived in the separation distance derivation process. Note that the reference coordinate acquisition process (SA4) may be performed at any stage after the reference position identification process (SA1) and before the positioning target position calculation process (SA5).

[0022] The reference position identification process involves placing visible markers at each of the reference positions P2, P3, and P4, and it is also possible to use the reference coordinate acquisition device 3 as the markers. As the 3D camera 2, a camera employing a stereo system or a laser scanner that generates depth images using a ToF system can be suitably used. For example, when using the Leica BLK3D stereo camera from Leica, the distance between two points P1 and P2 is calculated and displayed on the captured image displayed on the display screen of the 3D camera 2 by specifying a reference point P2 with respect to the positioning target position P1, for example with a stylus, and output to the arithmetic unit 4. Similarly, the distance between two points P1 and P3, and the distance between two points P1 and P4 are calculated and displayed and output to the arithmetic unit 4. These values ​​are stored in the memory provided in the arithmetic unit 4 and used in the subsequent positioning target position calculation process.

[0023] The VRS (Virtual Reference Point) method is a technique used to correct errors in GPS positioning. It utilizes a single receiver (mobile station) to create the illusion of a reference point being located very close to the reference position, based on observation data from multiple electronic reference points. The standard deviation of positioning using the VRS method is approximately 2 cm horizontally and 3-4 cm vertically. For example, the ichimill service provided by SoftBank is a suitable candidate. Any GNSS positioning device capable of employing the VRS method can be used.

[0024] Let the coordinates of the positioning target position P1 be (x1, y1, z1), the coordinates of the reference position P2 be (x2, y2, z2), the coordinates of the reference position P3 be (x3, y3, z3), and the coordinates of the reference position P4 be (x4, y4, z4). If the distance between P1 and P2 calculated in the separation distance derivation process is SD1, the distance between P1 and P3 is SD2, and the distance between P1 and P4 is SD3, then the following system of equations holds. SD1 = ((x1 - x2)) 2 +(y1-y2) 2 +(z1-z2) 2 ) 1 / 2 SD2 = ((x1 - x3) 2 +(y1 - y3) 2 +(z1 - z3) 2 ) 1 / 2 SD3 = ((x1 - x4) 2 +(y1 - y4) 2 +(z1 - z4) 2 ) 1 / 2

[0025] In the positioning target position calculation process, the operation device 4 calculates the solution of the simultaneous equations described above, and outputs the coordinates (x1, y1, z1) of the calculated positioning target position P1. The three-dimensional coordinates (x, y, z) finally obtained in the above description refer to a combination of latitude, longitude, and altitude, and positioning system coordinates and the like are preferably used.

[0026] [Second Aspect] A second aspect of the simple positioning method according to the present invention will be described based on FIGS. 3(a), (b) and FIG. 4. The simple positioning device 10 that executes the simple positioning method is a simple positioning device that measures a positioning target position P1 set in space from a separated position. The simple positioning device 10 includes a laser distance meter 5 attached via a pan-tilt fixed to the upper part of a tripod that functions as a posture adjustment mechanism 6 capable of adjusting the elevation angle or depression angle, and a pair of GNSS positioning devices 7 (V1, V2) attached at a predetermined distance so as to sandwich the laser distance meter 5. The simple positioning device 10 further includes an operation device 4 that calculates the coordinates of the positioning target position P1 from the distance SD and the elevation angle or depression angle with respect to the positioning target position P1 measured by the laser distance meter 5, and the coordinates of the laser distance meter 5 calculated based on the GNSS positioning device 7 and the direction angle with respect to the positioning target position P1. The laser distance meter 5 and the GNSS positioning device 7 are communicably connected to the operation device 4 via a short-range wireless communication interface such as Wi-Fi or Bluetooth.

[0027] As shown in Figure 4, the simplified positioning method performed using the simplified positioning device 10 comprises: a relative position measurement process (SB1) in which a laser rangefinder 5 attached via an attitude adjustment mechanism 6 that can change the elevation or depression angle measures the distance SD and elevation angle θ or depression angle to the positioning target position P1; a reference coordinate acquisition process (SB2) in which a pair of VRS-type GNSS positioning devices 7 (V1, V2) attached at a predetermined distance apart so as to sandwich the laser rangefinder 5 determine the coordinates of the laser rangefinder 5; and a positioning target position calculation process in which a calculation device 4 receives the distance and elevation or depression angle to the positioning target position P1 measured in the relative position measurement process, the coordinates of the laser rangefinder 5 obtained in the reference coordinate acquisition process, and the direction angle φ to the positioning target position P1, and calculates the coordinates of the positioning target position P1.

[0028] Based on the distance SD and elevation angle (or depression angle) θ to the positioning target position P1 measured by the laser rangefinder 5 in the relative position measurement process, the coordinates of the laser rangefinder 5 which become the reference position P2 obtained by a pair of VRS-type GNSS positioning devices in the reference coordinate acquisition process, and the direction angle from the laser rangefinder 5 to the positioning target position P1, a calculation step called the positioning target position calculation process is executed to calculate the coordinates of the positioning target position P1.

[0029] A pair of VRS-based GNSS positioning devices 7(V1,V2), mounted at a predetermined distance from the ends of a support plate installed horizontally on either side of the laser rangefinder 5, can obtain the three-dimensional coordinates (x2, y2, z2) corresponding to the installation position (reference position P2) of the laser rangefinder 5. For example, if the laser rangefinder 5 is installed in a orientation where its viewing direction is perpendicular to the longitudinal direction of the support plate in a plan view, and the laser rangefinder 5 is positioned at the center of the pair of GNSS positioning devices 7(V1,V2), then the center position of the coordinates of each GNSS positioning device 7(V1,V2) can be calculated as the installation position of the laser rangefinder 5. Note that it is not essential that the GNSS positioning devices 7(V1,V2) are positioned equidistant from the laser rangefinder 5 on the support plate; they only need to be installed on the support plate in a positional relationship that allows the coordinates of the laser rangefinder 5 to be calculated from the coordinates of the GNSS positioning devices 7(V1,V2).

[0030] From the distance SD between P1 and P2 measured by the laser rangefinder 5, the horizontal distance HD connecting P1 and P2 on the vertical line of the positioning target position P1 can be calculated as HD = SDcosθ, and the vertical distance VD corresponding to the laser rangefinder 5 on the vertical line of the positioning target position P1 can be calculated as VD = SDsinθ.

[0031] Furthermore, the direction obtained by rotating 90° from the azimuth angle of the support plate in a horizontal view, which is determined from the coordinates of the GNSS positioning device 7 (V1, V2), becomes the distance measurement direction of the laser rangefinder 5 in a horizontal view. The calculation device 4 calculates that the positioning target position P1 is the position obtained by moving a horizontal distance HD and a vertical distance VD in the distance measurement direction, using the coordinates of the laser rangefinder 5 as a reference.

[0032] Preferably, the calculation unit 4 includes an output unit that outputs an allowable separation distance for a pair of GNSS positioning devices based on the distance to the positioning target position P1.

[0033] The coordinate accuracy of a laser rangefinder depends on the distance between the pair of GNSS positioning devices mounted on either side of the laser rangefinder. When the distance between the laser rangefinder and the positioning target location P1 is long, the influence of the laser rangefinder's coordinate accuracy increases. Furthermore, when the distance is short, the workspace required for positioning can be reduced, but when the distance is long, a wider workspace is required for positioning.

[0034] Therefore, by providing the computing unit with an output unit that outputs an allowable separation distance for a pair of GNSS positioning devices based on the distance to the positioning target position P1, the separation distance of the GNSS positioning devices can be adjusted to ensure the accuracy of the coordinates of the positioning target position P1 while appropriately securing the working space required for positioning.

[0035] The arithmetic unit 4 is equipped with table data in advance that shows the allowable distance between a pair of GNSS positioning devices 7 that ensures the accuracy of position calculation for the position target location P1, depending on the distance between the laser rangefinder 5 and the position target location P1. The arithmetic unit 4 is configured to display the appropriate distance between a pair of GNSS positioning devices 7 on the display unit when the distance to the position target location P1 measured by the laser rangefinder 5 is input.

[0036] The attitude adjustment mechanism 6 described above preferably includes an angle sensor for detecting elevation or depression angles and a communication interface such as Bluetooth for outputting the detected angle to the laser rangefinder 5. For example, a Leica DISTO X6 can be suitably used as the laser rangefinder 5.

[0037] [Third aspect] Figure 5 shows a third embodiment of the simplified positioning method as an application of the second embodiment described above. The distances SD1, SD2, SD3 and elevation angles (or depression angles) θ1, θ2, θ3 are measured from three different points P2, P3, and P4 to the positioning target position P1 using a laser rangefinder 5.

[0038] The arithmetic unit 4 calculates the horizontal distances HD1, HD2, HD3 and vertical distances VD1, VD2, VD3 from the three points P2, P3, and P4 to the positioning target position P1, similar to the second embodiment. Furthermore, the arithmetic unit 4 determines the x and y coordinates of the positioning target position P1 by finding the position where three circles with radii HD1, HD2, and HD3 centered on the three points P2, P3, and P4 overlap, and adds one of the vertical distances VD1, VD2, or VD3 in the z direction based on the z coordinate of one of the three points P2, P3, or P4 to determine the z coordinate of the positioning target position P1.

[0039] The coordinates of the laser rangefinder 5 can be determined by the method described in the second embodiment, but it is also possible to attach the GNSS positioning device 7 to the pan / tilt head and perform positioning before attaching the laser rangefinder 5 to the pan / tilt head, and then attach the laser rangefinder 5 in place of the GNSS positioning device 7.

[0040] In this case, the simplified positioning method only needs to include: a relative position measurement step of measuring the distance and elevation or depression angle to the positioning target position P1 using a laser rangefinder attached via an attitude adjustment mechanism that can change the elevation or depression angle; a reference coordinate acquisition step of obtaining the coordinates of the laser rangefinder using a VRS-type GNSS positioning device attached via the attitude adjustment mechanism instead of the laser rangefinder; and a calculation step of calculating the coordinates of the positioning target position P1 using a calculation device to which the distance and elevation or depression angle to the positioning target position P1 measured in the relative position measurement step, the coordinates of the laser rangefinder obtained in the reference coordinate acquisition step, and the direction angle to the positioning target position P1 are input.

[0041] The embodiments described above are merely examples of the present invention, and the technical scope of the present invention is not limited by this description. It goes without saying that the devices used can be changed as appropriate, as long as they produce similar effects. [Explanation of symbols]

[0042] 1,10: Simple positioning device 2:3D camera 3: Reference coordinate acquisition device 4: Arithmetic device 5: Laser rangefinder 6: Posture adjustment mechanism 7: GNSS positioning device 7

Claims

1. A simplified positioning method for determining a position target location P1 set in space from a distanced position, A relative position measurement step in which the distance and elevation or depression angle to the position target position P1 are measured using a laser rangefinder mounted via an attitude adjustment mechanism that allows the elevation or depression angle to be changed, A reference coordinate acquisition step is performed to determine the coordinates of the laser rangefinder using a GNSS positioning device based on the VRS method, A calculation step in which a calculation device receives the distance and elevation or depression angle to the positioning target position P1 measured in the relative position measurement step, and the coordinates of the laser rangefinder and the direction angle to the positioning target position P1 obtained in the reference coordinate acquisition step, and calculates the coordinates of the positioning target position P1. A simple positioning method that includes the following features.

2. The simplified positioning method according to claim 1, wherein the reference coordinate acquisition step is a step of determining the coordinates of the laser rangefinder using a pair of VRS-type GNSS positioning devices mounted at a predetermined distance apart so as to sandwich the laser rangefinder.

3. A simple positioning device that positions a target position P1 set in space from a distance, A laser rangefinder mounted via an attitude adjustment mechanism that allows adjustment of the elevation or depression angle, A pair of GNSS positioning devices using the VRS method are mounted at a predetermined distance apart from the aforementioned laser rangefinder, A calculation device that calculates the coordinates of the position target position P1 from the distance and elevation or depression angle to the position target position P1 measured by the laser rangefinder, and the coordinates of the laser rangefinder and the direction angle to the position target position P1 calculated based on the GNSS positioning device, A simple positioning device equipped with the following features.

4. The simplified positioning device according to claim 3, wherein the calculation device has an output unit that outputs an allowable distance for the separation distance of the pair of GNSS positioning devices based on the distance to the positioning target position P1.

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