MOBILE SYSTEM AND PROCESS FOR MAPPING OBJECTS LOCATED AT A LARGE DISTANCE FROM ROADS

• Main Authors: STOICA AXENTE, SAVASTRU DAN, MICLO SORIN, T UTAN MARINA NICOLETA, TENCIU DANIEL
• Format: Patent
• Language: English; Romanian
• Published: 30.05.2011
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING; TRANSPORTING; VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TOCARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS; VEHICLES IN GENERAL

The present invention relates to a mobile system and to a process for mapping objects located at a large distance from roads, and which are directly inaccessible. The claimed system comprises a laboratory vehicle (V.L.) whose position angles and geographical coordinates are real-time determined by means of a GPS receiver sustained by an inertial navigation system (INS) and an Internet connection to a national network of base stations furnishing differential corrections of RTK type (Real Time Kinematic), in conditions wherein an antenna (Ant. GPS) of the GPS receiver is placed in the vicinity of a video camera (C.V) on a mounting platform arranged on a hood of the laboratory vehicle (V.L), the video camera (C.V) having the objective oriented towards the lateral side of the vehicle (V.L.) under a precisely determined fixed angle. The claimed process provides the carrying out of a succession of determinations and an automatic data acquisition and also the implementation of a calculus algorithm by means of which there are carried out: the determination of the value of absolute position angles ( Ψ, Θ, Φ) of a target (T) aimed in relation to a point wherein there is located the video camera (C.V.) at the moment wherein the respective image was acquired and the determination of geographical coordinates of the target (T) in latitude and longitude, by applying some triangulation processes on the values of position angles and azimuth, respectively, ( Ψ) and ( Ψ) of the target T, said angles being determined in relation to North direction (N) of the local magnetic meridian and which corresponds to two different positions (Poz.1 and Poz.2) of the laboratory vehicle (V.L.), positions located at a distance (B.M.) which constitutes the measuring base. Invenţia se referă la un sistem mobil şi la un procedeu de cartare a unor obiective situate la distanţe mari de arterele rutiere şi care sunt inaccesibile în mod direct. Sistemul conform invenţiei este constituit dintr-un vehicul laborator (V.L.) ale cărui unghiuri de poziţie şi coordonate geografice sunt determinate în timp real cu ajutorul unui receptor GPS susţinut de un sistem de navigaţie inerţială (INS) şi de o conexiune Internet la o reţea naţională de staţii de bază furnizoare de corecţii diferenţiale de tip RTK (Real Time Kinematic), în condiţiile în care o antenă (Ant.GPS) a receptorului GPS este amplasată alături de o cameră video (C.V.) pe o platformă de montaj dispusă pe capota vehiculului laborator (V.L.), camera video (C.V.) având obiectivul orientat spre o parte laterală a vehiculului (V.L.) sub un unghi fix, precis determinat. Procedeul conform invenţiei implică realizarea unei succesiuni de determinări şi achiziţii automate de date, precum şi implementarea unui algoritm de calcul cu care se realizează: determinarea valorilor unghiurilor absolute de poziţie ( Psi,Theta, Phi) ale unei ţinte (T) vizate în raport cu un punct în care se află camera video (C.V.) în momentul în care a fost achiziţionată imaginea respectivă şi determinarea coordonatelor geografice ale ţintei (T), în latitudine şi longitudine, prin aplicarea unor procedee de triangulaţie asupra valorilor unghiurilor de poziţie şi respectiv de azimut, ( Psi) şi ( Psi), ale ţintei (T), unghiuri determinate în raport cu direcţia nord (N) a meridianului magnetic local şi care corespund la două poziţii diferite (Poz.1 şi Poz.2) ale vehiculului laborat