Automatic Geodetic Survey Stationing via Reference Marker Database

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Solution Overview

Problem

Existing geodetic survey instruments face challenges in efficiently and accurately stationing in environments without GNSS signals, particularly in indoor or complex sites, where manual relocation and coarse pose determination are cumbersome and error-prone, and existing systems like IMU and VPS suffer from drift and ambiguity.

Innovation Solution

A geodetic survey instrument equipped with a targeting unit, IMU, imaging sensor unit, and computing unit, which enables automatic stationing by recognizing relocation, calculating coarse pose, selecting reference markers, and determining fine pose using IMU and VPS data, with optional support from design data and reference marker recognition.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If manual relocation and coarse pose determination are used, then the survey instrument can be moved to different positions, but the process becomes cumbersome and error-prone

Engineering Contradiction:

Improvestationing processVSAvoidrelocation time

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The system performs preliminary actions by pre-storing reference marker positions in a database and pre-calculating coarse pose using IMU and VPS data before fine pose determination is needed. This allows the instrument to automatically identify and target reference markers without manual intervention, significantly reducing stationing time and operational complexity

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The survey instrument performs self-service through automatic stationing functionality where the computing unit autonomously calculates coarse pose from sensor data, identifies suitable reference markers based on database information, and guides the targeting unit to acquire them. This eliminates the need for manual relocation procedures and reduces operator burden

Inventive Principle:

Principle #25Self-service

2Extent of automation

If IMU and VPS systems are used for coarse pose determination, then automation is improved, but drift and ambiguity issues worsen measurement precision

Engineering Contradiction:

Improveautomatic stationingVSAvoidpose accuracy

Core Design Contradiction:

Extent of automationVSMeasurement precision

Solution Approach 1:

The system uses feedback by comparing the coarse pose calculated from IMU and VPS data against the known precise positions of reference markers from the database. The difference between coarse and fine pose provides feedback that enables error correction and drift compensation, improving measurement precision while maintaining automation

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

Reference markers serve as intermediaries between the coarse pose determination system (IMU/VPS) and the final precise positioning goal. By targeting these known reference points, the system bridges the gap between automated coarse localization and precise geodetic positioning, eliminating ambiguity in the automated process

Inventive Principle:

Principle #24Intermediary (Mediator)

3Measurement precision

If reference markers are manually targeted, then fine pose can be determined accurately, but the process becomes time-consuming and labor-intensive

Engineering Contradiction:

Improvefine pose accuracyVSAvoidstationing efficiency

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The computing unit performs preliminary action by pre-calculating coarse pose and pre-identifying suitable reference markers from the database before the targeting operation. This preparation eliminates the need for manual search and trial-and-error targeting, significantly improving stationing efficiency while maintaining fine pose accuracy through systematic reference marker acquisition

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system replaces manual mechanical targeting operations with automated computational processes. The computing unit substitutes human judgment and manual aiming with algorithmic coarse pose calculation, automated reference marker identification based on database information, and electronic guidance to the targeting unit, thereby improving productivity without sacrificing measurement precision

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentEP4312000B1Automatic, stationing of a geodetic survey instrument based on reference marker database

Publication Date: 2025.11.05 LEICA GEOSYSTEMS AG

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AI summary

The invention relates to an automatic stationing functionality of a geodetic survey instrument. The survey instrument comprising a targeting unit configured to provide a targeting data measurement, an inertial measurement unit (IMU), an imaging sensor unit configured for providing the functionalities of a visual positioning system (VPS), a communication interface configured to receive a design data comprising position information of reference markers in the environment, and a computing unit. The automatic stationing functionality being configured for calculating a coarse pose of the instrument based on the IMU and/or the VPS pose data, selecting a plurality of reference markers to be targeted based on the coarse pose and the design data, and determining a fine pose of the instrument based on the targeting data measurement of the plurality reference markers.