JP4452703B2 - Surveying method using GPS - Google Patents

Description

  The present invention relates to a technique for accurately measuring the position of an object or the like located away from land or an island even if there is no reference point nearby.

Conventionally, in pile driving work away from land and islands, in order to accurately measure the position of the pile, the target attached to the pile is collimated from a surveying instrument such as a total station installed on land. Surveying is done.
By automatically tracking the target with a motor automatic tracking total station, the position and inclination of the pile can be measured in real time.
The total station has a function to automatically measure the distance and direction to the surveying object. The automatic tracking type total station further drives the motor even if the collimated target position moves. It is a surveying instrument with a function to automatically track by.

As an example, in Patent Document 1, an electronic surveying instrument incorporating a collimation direction automatic adjustment mechanism and a collimation video camera is installed at a fixed point away from the pile placement site, and the pile is photographed with a collimation video camera. Then, a technique is disclosed in which image processing is performed, the amount of displacement with respect to the pile and the current planned placement data is displayed, and the posture or position of the pile is corrected as necessary based on the display. The electronic surveying instrument is operated remotely from the installation site.
In Patent Document 2, an object is imaged with a stereo camera whose global coordinates can be obtained by a GPS device, a positional relationship between the stereo camera and the object is obtained by image processing, and the global coordinates and attitude angles of the stereo camera are obtained. An apparatus is disclosed that is configured to obtain the global coordinates of the object with the obtained conversion formula.

JP-A-5-5308 JP 2005-91298 A

However, the above method requires personnel to be placed on land as well as on piles for the management of surveying instruments installed at the reference point set on land. There is a problem that it costs money.
Moreover, in the technique described in Patent Document 1, since the electronic surveying instrument needs to be installed at a fixed point, it is difficult to adopt it for offshore pile driving or the like.
Moreover, since the technique described in Patent Document 2 requires a stereo camera and an image processing device, it is not suitable for real-time measurement such as offshore pile driving.

  Therefore, the present invention has been made for the purpose of providing a measurement technique in which surveying is completed and management is simple even if it is not on land.

The surveying method using GPS according to the present invention is as follows.
In the measurement method to measure the position of the survey object from the structure placed at the survey site,
In addition to installing GPS antennas at three locations on the structure where the sky is open,
Each of these GPS antennas is connected to a GPS device, and a total station is disposed on the structure,
Measuring the relative position of the GPS antenna by the total station, and associating the position of the total station with the position of the GPS antenna;
By measuring the relative position of the survey object by the total station and associating the position of the survey object with the position of the GPS antenna,
And configured to obtain a position in the global coordinate system of the surveying object.

In the surveying method using GPS according to the present invention, three GPS antennas, a GPS device, and a total station are disposed on a structure disposed at a surveying site, and the relative position of the GPS antenna is measured by the total station. By doing so, the position of the total station is associated with the position of the GPS antenna . Then, by measuring the relative position of the surveying object by the total station, the position of the surveying object is associated with the position of the GPS antenna , so that the position of the surveying object in the global coordinate system or predetermined on the land The relative position from the position of is obtained.
Therefore, according to the present invention, it is possible to provide a measurement technique in which surveying is completed and management is simple even when not on land.

Below, the surveying method using GPS concerning the present invention is explained in detail based on the drawing which showed the embodiment.
Reference numeral 1 denotes a structure such as a pile driving ship floating on the sea surface.
GPS antennas 21, 22, and 23 are installed at three locations on the structure 1 where the sky is open.
These GPS antennas 21, 22, and 23 are connected to GPS devices 31, 32, and 33, respectively, and position information that is output from these GPS devices 31, 32, and 33 is input to the personal computer 4 for analysis.

Reference numerals 51, 52, and 53 denote motor-driven automatic tracking total stations having a function of automatically tracking a surveying target by motor driving. Each total station is on the structure 1 and is an object to be surveyed (for example, a pile) ) Where the field of view is open.
With the above configuration, a coordinate system in the global coordinate system can be constructed on the structure 1 with the three GPS antennas as reference points. Since the position of the total station is fixed on the global coordinate system, even when the structure 1 is swung on the sea, the three GPS antennas and the total station are swung integrally.

  Reference numeral 9 denotes a guide object (for example, a pile) to be surveyed. In the guide object 9, three survey targets 91, 92, and 93 are installed at positions visible from the total station on the structure 1.

A procedure for surveying the position of the induced object 9 using the surveying system 10 having the above configuration will be described.
First, the total stations measure the positions of the three GPS antennas 21 , 22 , and 23 . By this measurement, the position of the total station is measured as a position in the global coordinate system (longitude / latitude coordinate system) based on position information obtained by the GPS device.
In this way, the position of the total station is associated with the positions of the GPS antennas 21 , 22 , and 23 , and a conversion formula for converting the measurement value by the total station into global coordinates by the GPS device is determined.

Subsequently, at the same total station, the positions of the survey targets 91, 92, 93 of the guide 9 are measured. Here, the relative three-dimensional positional relationship between the total station and each GPS antenna 21 , 22 , 23 is measured. By this measurement, the positions of the surveying targets 91, 92, 93 are measured as positions in the individual coordinate system based on the position of the total station.

In this way, by measuring the relative position of the surveying target relative to the total station, the position of the surveying target is associated with the position of the GPS antennas 21 , 22 , and 23 . That is, when the position of the induced object 9 is measured by the total station associated with the positions of the GPS antennas 21 , 22 , and 23 , the position of the induced object 9 measured at the total station is calculated by using the conversion formula. It can be converted into a global coordinate system (longitude / latitude coordinate system) based on position information obtained by the GPS device.
Therefore, the positions of the surveying targets 91, 92, 93 can be obtained as positions in the global coordinate system without performing surveying with reference to a ground reference point.

Based on the survey information in the global coordinate system obtained by the GPS devices 31, 32, and 33, and the position information in the individual coordinate system of the survey targets 91, 92, and 93 based on the total station, The position of the surveying targets 91, 92, 93 in the global coordinate system can be obtained by performing arithmetic processing on the analysis personal computer 4 in which the conversion program is installed.
Note that the position information in the global coordinate system (longitude / latitude coordinate system) and the plane rectangular coordinate system having a predetermined place as the coordinate origin can be mutually converted by a computer using a predetermined conversion program. .

  By automatically tracking the surveying targets 91, 92, 93 by the three total stations 51, 52, 53, respectively, not only the position of the pile but also the positional relationship of the three surveying targets 91, 92, 93 is calculated. Thus, the inclination of the pile can be measured in real time.

Note that a global coordinate system can be constructed on the structure 1 by installing three or more GPS antennas on the structure 1.
In addition, since the said structure 1 shakes on the sea surface, when the total station is equipped with the horizontal maintenance mechanism, the mechanism is not operated.
When there is one total station, the coordinates (including height) of the measurement point can be measured by arranging one measurement target at the measurement point. In the case where there are two total stations, two measurement targets are arranged on the pile, whereby the two-dimensional data of the surveying object, or the plane position or inclination in the case of the pile can be measured. When there are three total stations, three measurement targets are arranged on the pile, so that the three-dimensional data of the survey object, and in the case of a pile, the plane position and inclination of the pile can be measured.
It is also possible to automatically track the GPS antenna on the structure from a land reference point as a prism of a total station disposed on land.

In addition, although it is outside the scope of claims of this application, it is also possible to use one GPS device. In this case, for example, the GPS device (at least the GPS antenna) is fixed to and integrated with the total station (for example, a movable part). A GPS antenna is placed at the top of the total station, and this GPS device associates the three-dimensional position of the total station with the global coordinate system (longitude / latitude coordinate system). By measuring the position of the total station, the positions of other total stations can be related to the global coordinate system. In this way, the pile to be measured is measured at the total station associated with the global coordinate system.
Moreover, it is also possible for the operator to operate the total station and measure toward the measurement target without automatically tracking with the surveying instrument (total station).
If the measurement target is not installed, automatic tracking is not possible, but the operator operates the surveying instrument to collimate the pile and perform non-prism measurement to determine the plane position and inclination of the pile. It is also possible to measure.
The surveying method using GPS according to the present invention is effective when the construction site (stakeout site) is away from the land.
Further, the distance of about 600 m is the limit in the normal infrared guidance method, and about 1000 m is possible in the tracking method using the prism, but the prism confusion problem occurs when a plurality of prisms are used. However, when measuring a pile close to the structure on the sea as in the present invention, the prism confusion problem does not occur even when a plurality of prisms are used.

The surveying method using GPS according to the present invention is not limited to pile driving construction at sea, but is an effective invention for surveying an accurate position on a global coordinate system at a location away from a reference point.
For example, it is also effective for guiding the hull, measuring the position of the sinking box, and measuring the position of the caisson.

As an embodiment of a surveying method using GPS according to the present invention, for example, RTK (Real Time Kinematic Positioning) -GPS can be used to perform highly accurate positioning of several centimeters.
In RTK-GPS, if the distance from the reference station exceeds a few tens of kilometers, it takes a long time to initialize or the error becomes large, and a known coordinate point is required at the surveying site, There is a problem that two expensive GPS receivers must be prepared for the mobile station and the reference station.
However, such a problem can be solved by using a virtual reference point method called VRS (Virtual Reference Station). In the VRS system, the mobile station sends NMEA data for single positioning to the VRS control center via a mobile phone, and the VRS control center processes the data sent from the electronic reference point and the mobile station to provide correction information and the mobile phone. Via RTCM data to the mobile station. As a result, it is possible to create a state where there is a reference station beside the mobile station, and high-accuracy positioning by RTK-GPS becomes possible.
The surveying method using GPS according to the present invention is not limited to using RTK-GPS as in the above-described example, but is not limited to RTK, but also RTD (Real Time Dynamic Positioning). Techniques can also be adopted.

It is a plane schematic block diagram of embodiment of the surveying method using GPS concerning this invention.

Explanation of symbols

1 Structure 9 Survey Object 10 Survey System 21, 22, 23 GPS Antenna
31, 32, 33 GPS devices 51, 52, 53 Total station

Claims (1)

In the measurement method to measure the position of the survey object from the structure placed at the survey site,
In addition to installing GPS antennas at three locations on the structure where the sky is open,
Each of these GPS antennas is connected to a GPS device, and a total station is disposed on the structure,
Measuring the relative position of the GPS antenna by the total station, and associating the position of the total station with the position of the GPS antenna;
By measuring the relative position of the survey object by the total station and associating the position of the survey object with the position of the GPS antenna,
Surveying method using the GPS, characterized in that to obtain a position in the global coordinate system of the surveying object.

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