WO2011046461A1 - High precision positioning system suitable for a mobile land platform - Google Patents

High precision positioning system suitable for a mobile land platform Download PDF

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Publication number
WO2011046461A1
WO2011046461A1 PCT/PT2009/000073 PT2009000073W WO2011046461A1 WO 2011046461 A1 WO2011046461 A1 WO 2011046461A1 PT 2009000073 W PT2009000073 W PT 2009000073W WO 2011046461 A1 WO2011046461 A1 WO 2011046461A1
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WO
WIPO (PCT)
Prior art keywords
gps
vehicle
positioning system
dimensional
laser
Prior art date
Application number
PCT/PT2009/000073
Other languages
French (fr)
Portuguese (pt)
Inventor
Paulo Renato Enes Baganha Baptista
Telmo Reis Cunha
Cristina Maria Almeida Bernardes
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Universidade De Aveiro
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Publication of WO2011046461A1 publication Critical patent/WO2011046461A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Definitions

  • the present invention belongs to the field of high precision three-dimensional positioning carried out by mobile ground platforms to serve topography purposes.
  • This invention uses the use of spatial geodesy techniques, namely the Global Positioning System (GPS) in association with laser technology and an inertial unit, with the purpose of positioning morphological elements of the terrain surface, with a precision level of the order of 0.05 m, regardless of vehicle orientation, or attitude.
  • GPS Global Positioning System
  • the fields of application of the invention are various with emphasis on the area of topographic surveys carried out in coastal environments, particularly on sandy beaches, although it may also be applied in other fields, notably in the topographic monitoring of road construction.
  • the authors of the present invention consider that it can make a very valuable contribution to high precision topographic monitoring with a view to establishing terrain elevation models in the coastal strip, particularly beaches. Sandy.
  • the present invention has undeniable cost advantages over air topographic monitoring systems and productivity and efficiency over traditional land based topographic monitoring systems.
  • the invention that has been developed may serve as a working methodology for technical or research work.
  • the widespread use of this invention in the context presented may serve as a source of information for the creation of databases which can serve as a valid contribution to policy makers, central and local government officials, economic operators. and experts can substantiate their decisions.
  • GPS techniques have similar accuracy to LPS techniques, with the advantage that data acquisition can be done in kinematic mode and therefore ideal for. coupled with mobile platforms.
  • variations in terrain slope affect the vehicle's orientation (attitude) and induce errors in position determination, given by the GPS antenna mounted on the vehicle frame, processed relative to a local reference station. Therefore, single antenna mounted monitoring systems on a mobile platform such as those referred to by Plant and Holman (1997) and Haxel and Holman (2004) have a lower level of accuracy than LPS techniques.
  • mobile platform mounted multi-antenna GPS systems consisting of two or preferably three antennae mounted on an orthogonal vehicle system (Groat, 2000; List et al., 2006).
  • mobile platforms such as off-road or quad bikes, affect the accuracy of GPS measurements due to various vehicle-inherent variables that are difficult to calibrate even when multi-antenna GPS systems are used.
  • Lancker et al. (2004) In such systems, as GPS antennas are mounted on the vehicle, the variation of vehicle suspension during travel or the variation of vehicle penetration into the ground, due to differential terrain compaction, which is very common in beach environments.
  • the present invention overcomes the drawbacks of the previous system as GPS antennas are mounted on a structure attached to the vehicle which has no physical contact with the ground surface.
  • this attached structure is mounted among other sensors a high cadence laser distance meter with a very short distance measurement acquisition time (of the order of millisecond), which allows you to measure the distance to the surface of the ground with very high accuracy.
  • the final accuracy of this multi-antenna GPS system is around 0.05 m in the vertical component, matching the accuracy of traditional local positioning techniques for an incomparably higher level of performance.
  • the present invention therefore aims to bridge a gap in the area of high precision topography. Intervention sectors include those related to coastal monitoring. However, its application is not limited to this area of intervention. Surveying by topography and engineering companies that perform monitoring of public and private works would benefit greatly from a low-cost and efficient land-based surveying system such as the one developed.
  • ALS Airborne Laser Scanning
  • LPS Local Positioning System
  • GPS Global Positioning System
  • RTK Real Time Kine atios GPS
  • GPS multi-antenna systems consisting of the use of two or three antennas mounted on the allow the steering direction vectors to be determined between the various antennas and therefore to calculate the attitude of the vehicle according to the inclination variations it undergoes along the route, thus eliminating the errors inherent in varying the slope of the terrain.
  • Multi-antenna systems continue to be affected by other errors inherent in the fact that antennas are mounted directly on the vehicle structure. Since the objective relates to the determination of ground coordinates and bearing in mind that GPS antennas are mounted on the body, the distance between the phase center of the antennas whose coordinates are known and the ground surface is affected by several variables of difficult calibration. As an example, since off-road vehicles use inner tube tires, variations in tire pressure between successive campaigns in the same area of study may affect the analysis of the results. The variation in atmospheric temperature itself affects the volume of air contained in the tires. Variations in vehicle suspension when moving also affect the accuracy of measurements. Other variables relate to variations in ground resistance to vehicle weight which may affect tire penetration and therefore induce errors in the vertical component of GPS positioning.
  • the present invention relates to an integrated positioning system which includes three GPS receivers, a laser distance gauge and an inertial sensor unit mounted on a side-mounted metal frame on a mobile platform.
  • One of the GPS receivers allows, by differential mode processing, with a local reference station, the high-precision determination of the phase center coordinates of the vehicle-mounted antenna.
  • the laser distance meter allows the calculation of the distance to the ground surface.
  • the various GPS receivers make it possible to obtain the vector coordinates between GPS antennas, whose distances are constant, resulting in the determination of the attitude of the vehicle.
  • the inertial sensor unit aims to increase robustness in attitude determination.
  • the aim of this invention is to restrict the sources of error inherent to high precision three-dimensional positioning when performed on land mobile platforms only to those due to GPS when operating in kinematic differential mode (of the order of 0.03 and 0.04 m in planimetry and altimetry respectively), and those due to laser distance measurement (less than ⁇ , 01 m). Since in this invention the calculation of the distance to the surface of the ground is made by a laser distance meter , the high rate 'and an acquisition time of measuring very short distance, the millisecond order, the various vehicle variables affecting Positioning, especially in its vertical component, is eliminated, such as the variation in tire pressure, the variations induced by the dynamics of movement in the vehicle suspension and the variation in ground resistance to vehicle weight.
  • This invention may also have advantages over other multi-antenna GPS systems mounted on mobile platforms in that in the present case only one receiver is required to be a high performance receiver, ie dual frequency receiver which allows determining, in a differential mode, with respect to a local reference station, the coordinates of the phase center or the base of one of the antennas laterally coupled to the vehicle.
  • the remaining two receivers and their antennas are only used as auxiliary instruments for determining the attitude of the equipment's supporting structure, being that they are of medium performance, ie of simple frequency.
  • the advantages of using single frequency receivers are cost-effective as such a solution represents a significant reduction in GPS equipment cost. However, these may of course also be double frequency.
  • This invention further obviates other drawbacks of multi-antenna systems traditionally mounted directly on vehicles, since in the present case the multi-antenna system is mounted laterally on the vehicle, thus allowing to delineate terrain morphologies such as ridges. shore verges, erosion escarpments, or wave spreading limits, in safe conditions for the vehicle and its operator.
  • the operator visualizes and laterally tracks the morphologies he wishes to position as he moves the vehicle on the ground.
  • High-precision three-dimensional terrain surface positioning system for navigational use in a land vehicle, which comprises a rigid equipment support structure consisting of a metal main arm with an extendable element at its end, which supports a laser distance gauge attached to the lower end of this extensible element, a GPS antenna coupled to a rod attached to the upper end of this extensible element, and its GPS receiver, an inertial sensor unit with three accelerometers and three gyros arranged in a system orthogonal three-axle axle and with an included compensation temperature sensor mounted on a metal platform on that main arm and oriented in the directions of the longitudinal and transverse axles of the vehicle, and two secondary arms connected to the main arm and to a bar arranged according to eix longitudinal of the vehicle, arms that support two GPS antennas, coupled to rods fixed in those arms, which antennas are connected to two GPS receivers, as well as a synchronous collection and data storage unit to which the distanciometer is connected, GPS receivers and the inertial sensor unit.
  • the target positioning system of the present invention is characterized by being a set of electronic equipment mounted on a support structure that can be adapted to an off-road vehicle, which sends the acquired data to a synchronous collection and storage unit, which includes hardware developed for this purpose.
  • This system is specially designed so that the positioning of the ground surface is not affected by any physical element of the vehicle or associated with the dynamics of the moving vehicle.
  • - fig. 1 is a schematic and simplified profile representation of an embodiment of the integrated monitoring system according to the invention.
  • - fig. 2 is a plan view of said integrated monitoring system.
  • the preferred embodiment of the invention which consists of a set of equipment, which sends data to a synchronously collecting and storing information unit, and which is coupled to a support structure, which is adapted to a vehicle of the support and equipment, how that structure is adapted to the vehicle, and the architecture adopted for mounting the equipment, as shown in the figures.
  • the support structure used for mounting the various electronic equipment constituting the positioning system is a structure external to the vehicle, which is attached to it at various support points.
  • This structure includes a metal main arm (1) aligned with the direction of the transverse axis of the vehicle and fixed to a metal bar (11), the latter aligned with the direction of the longitudinal axis of the vehicle.
  • a metal main arm (1) aligned with the direction of the transverse axis of the vehicle and fixed to a metal bar (11), the latter aligned with the direction of the longitudinal axis of the vehicle.
  • a second sliding arm (2 ⁇ , which allows for an extension of about 2/3 of the length of the main arm, the latter 0.90 m in length.
  • the second sliding arm can be fixed at any point of the its course by means of two screws.
  • a pole (5) which allows to attach a GPS antenna (4).
  • the pole is of sufficient height that interference will not occur to the signal reception at the GPS antenna by any physical element of the vehicle or its operator.
  • a metal plate (not shown) by means of two screws, which serves to couple a laser distanciometer (3).
  • the fixing of the metal plate to the arm is not made by holes, but by slots allowing its attachment to be adjusted laterally along the horizontal component of the extendable arm, thus allowing the location of the laser emitting point to be aligned in a vertical direction with the axis of the rod (5). ) placed on the upper end of that arm, and consequently with the GPS antenna (4).
  • a metal platform (8) which allows the storage of an inertial sensor unit with three accelerometers and three gyros arranged in an orthogonal three-dimensional axis system and with an included temperature compensation sensor (7), whose axes main lines are aligned with the directions of the longitudinal and transverse axles of the vehicle.
  • the equipment support structure further includes two secondary arms (9 and 10). Each of these arms is fixed on one side to one end of the metal bar which is aligned in the direction of the longitudinal axis of the vehicle (11) and opposite is attached to the main arm (1). ). With this arrangement an equipment support structure with triangular geometry is formed. On the upper face of each of the secondary arms are attached two poles (14 and 15) of identical dimensions to the pole supporting the dual frequency GPS antenna (5), which allows to attach two GPS antennas (12 and 13).
  • the support structure of equipment with triangular geometry has been developed to be removable, side mounted, with the option to be fixed to the right or left side of the vehicle.
  • two transverse metal bars (19 and 20) are mounted on the vehicle body using semi-rigid body fasteners (22 and 23) to ensure that the rigid support structure of the equipment is resistant to eventual damage. body twisting motions.
  • body fasteners 22 and 23
  • At the ends of each of these metal bars there are two perforated grooves that allow the fitting of the equipment support metal frame.
  • the vehicle mounting points on the metal support frame have a vertically arranged, multi-point perforated slide (24) which allows insertion into the slots of the metal bars mounted on the vehicle body (19 and 20). ), which may be inserted at different heights from the ground. After insertion, the fixing is made by screws with nut (not shown).
  • the equipment support metal frame is further supported by an extendable transverse rod (21), which engages on one side with the lower main arm (1) of said metal frame and on the other side of the vehicle chassis by means of a pin mounting bracket (26).
  • a counterweight (25) is mounted under a metal bar (27) arranged along the transverse axis of the This counterweight may be adjusted at various positions along the course of that bar depending on the position of the extendable element (2) of the main arm positioned opposite the vehicle.
  • the GPS receivers (6, 16 and 17), the laser distance meter (3) and the inertial sensor unit (7) are connected to a synchronous data collection and storage unit (18) mounted on the body of the vehicle. which has the possibility of communication via RS232 or RS485 interface with GPS receivers (6, 16 and 17), laser distanciometer (3) and inertial sensor unit (7).
  • the operation of the GPS receivers (6, 16 and 17) and the laser distance meter (3) are controlled by message exchanges according to specific protocols. Data are stored in non-flash memory (flash) capable of 24 hours of continuous recording.
  • a key feature for the smooth operation of this system over a long period is its isolation from the outside. As the study areas are in the coastal zone, the level of humidity and saltpeter is very high, which prevents the use of laptops or equivalent. Thus, the synchronous data collection and storage unit 18 is protected in an airtight, insulated aluminum case with isolation. The important need to synchronize sensor data is also highlighted. GPS receivers (6, 16 and 17) determine, in addition to position, a very accurate time estimate (not GPS time system). In contrast, the laser distanciometer (3) and also the inertial sensor unit only send successive measurements without any indication of the time at which they occurred, so it was necessary to consider in the design of the collection and storage system the synchronization of distance.
  • a sync signal (1PPS) was used sent by one of the GPS receivers which is processed at a very low level by a microcontroller (not shown) integrated in the synchronous collection system which manages the monitoring system. storage.
  • the microcontroller (PIC18F458) further configures the equipment connected to the system and collects the relevant data from it and stores it. All sensors communicate with the microcontroller via a quart-UART that parallels RS232 (or RS485 with RS232 conversion) communications.
  • a signaling LED interface tells the operator information about the memory fill state, the sensor activity state, and the recording state.
  • the operator can, at the push of a button, start a new data recording session, or end the current session. All sessions are individualized in the data storage system as files.
  • the operation of this positioning system is essentially based on the integration of the information acquired by the various sensors mounted on the support structure.
  • One of the GPS receivers (6) is used to determine the highly accurate three-dimensional position of the top of the main pole (5) of the system.
  • the respective GPS antenna (4) is located at the top of this pole, the base of which is occupied by the laser distance meter (3).
  • the GPS antenna (4) operates in differential mode, that is, the positions obtained by that antenna are processed relative to a local reference station (not shown), thus allowing for high precision absolute positioning.
  • the laser distance meter (3) At the base of the main pole is the laser distance meter (3) whose beam has been aligned with the main pole (5).
  • This sensor is capable of measuring up to 1000 samples per second, at distances ranging from 30 cm to 4 meters, and with a accuracy greater than 1 cm.
  • the main pole (5) being vertical, knowing the coordinates of the top of that pole, given by the GPS receiver (6) and its GPS antenna (4.), knowing the length of the pole (5). ) and the distance from its base to the ground, given by the laser distance meter (3), the coordinates of the ground point directly below the system are precisely determined.
  • the variation of these steering vectors ⁇ reflects the variation in the inclination of the main pole (5) as the antenna structure is integral with it.
  • the inclination of the main pole relative to the local vertical direction is thus determined, which makes it possible to accurately determine, by simple geometry analysis, the coordinates of the ground point targeted by the lase distometer (3).
  • This positioning system may have several modifications, notably as regards the equipment support structure and the way the platform is adapted to the mobile platform, according to the particular characteristics of the vehicle in each case.

Abstract

The present invention concerns a high precision three-dimensional positioning system which is suitable for a mobile land platform, such as an all-terrain vehicle, allowing an efficient survey of the land surface topography. This invention employs spatial geodetic techniques, namely the Global Positioning System (GPS) in association with laser technology and an inertial sensor unit, with the objective of positioning morphological elements of the terrain. This system eliminates the positioning errors associated with the vehicle orientation (attitude), due to terrain slope changes, and also positioning errors that are associated with inherent vehicle variables, namely its suspension, tire pressure variations, and differential tire penetration in the soil. The fields of application of this invention cover topographic surveys in littoral environments, particularly in sandy shores, although it can also be applied in other fields, namely in the topographic tracking of highways construction. This system is characterised in that it comprises a rigid structure supporting the equipment, that is constituted by a main metallic arm (1) with an extensible element at its end (2) that supports a laser distance sensor (3) fixed at the lower end of that extensible element; a GPS antenna (4), mounted on a pole (5) fixed at the upper end of that extensible element and the respective GPS receiver (6); an inertial sensor unit with three accelerometers and three gyroscopes, including a temperature sensor for compensation (7) mounted on a metallic platform (8) in this main arm, and two secondary arms (9 and 10) connected to the main arm (1) and connected to a bar arranged according to the longitudinal vehicle axis (11), the said arms supporting two GPS antennae (12 and 13), mounted on poles (14 and 15) fixed in those arms, the said antennae being connected to two GPS receivers (16 and 17); and also a synchronised data reception and storage unit (18), to which the laser distance sensor, the GPS receivers and the inertial sensor unit are connected.

Description

DESCRIÇÃO  DESCRIPTION
"SISTEMA DE POSICIONAMENTO DE ELEVADA PRECISÃO ADAPTADO A "HIGH PRECISION POSITIONING SYSTEM ADAPTED TO
UMA PLATAFORMA MÓVEL TERRESTRE"  A GROUND MOBILE PLATFORM "
Campo da invenção Field of the invention
A presente invenção pertence ao domínio do posicionamento tridimensional de elevada precisão, realizado por plataformas terrestres móveis, para servir propósitos de topografia. Este invento recorre a utilização de técnicas de geodesia espacial, nomeadamente do Sistema de Posicionamento Global (GPS) em associação com tecnologia laser e ainda uma unidade inercial, com objectivo de posicionar elementos morfológicos da superfície do terreno, com um nível de precisão da ordem dos 0.05 m, independentemente da variação da orientação do veículo, ou seja da sua atitude. Os campos de aplicação do invento são vários destacando-se a área dos levantamentos topográficos realizados ém ambientes litorais, particularmente em praias arenosas, embora também possa ser aplicado noutros campos, nomeadamente no acompànhamento topográfico da construção de estradas . The present invention belongs to the field of high precision three-dimensional positioning carried out by mobile ground platforms to serve topography purposes. This invention uses the use of spatial geodesy techniques, namely the Global Positioning System (GPS) in association with laser technology and an inertial unit, with the purpose of positioning morphological elements of the terrain surface, with a precision level of the order of 0.05 m, regardless of vehicle orientation, or attitude. The fields of application of the invention are various with emphasis on the area of topographic surveys carried out in coastal environments, particularly on sandy beaches, although it may also be applied in other fields, notably in the topographic monitoring of road construction.
Actualmente, ainda são considerados pontuais os casos em que são realizados estudos técnicos regulares relativos a cartografia de pormenor em ambientes de praia emersa, com vista à avaliação das variações morfológicas da praia e quantificação de volumes sedimentares. Quando realizados, os objectivos desses estudos relacionam-se, frequentemente, com estabelecimento das bases topográficas necessárias para a realização de obras de defesa costeira, como é o caso de esporões, ou no caso de portos com a quantificação de volumes sedimentares retidos a barlamar de molhes, tendo em conta as actuais exigências na gestão ambiental de sedimentos . At present, cases where regular technical studies on detailed mapping in beach environments are still considered emerged to evaluate beach morphological variations and quantify sedimentary volumes. When carried out, the objectives of such studies often relate to the establishment of the necessary topographic bases for coastal defense works, such as groynes, or in the case of ports with the quantification of sedimentary volumes retained from barlamar. water, taking into account the current requirements for environmental management of sediments.
No contexto de trabalhos de investigação científica são também pouco frequentes os casos em que levantamentos topográficos da praia são executados no âmbito de programas regulares de monitorização ao longo de vários anos. Os resultados desses levantamentos, elaborados muitas vezes no âmbito de teses de mestrado ou de doutoramento e cessando de seguida, visam frequentemente, estabelecer taxas de erosão costeira, caracterizar do ponto de vista morfodinâmico as praias estudadas, analisar o impacte de temporais e de grupos de temporal, definir índices de vulnerabilidade e inerentes riscos costeiros. In the context of scientific research, cases where beach surveys are carried out as part of regular monitoring programs over several years are also infrequent. The results of these surveys, often elaborated as master's or doctoral theses and then ceased, often aim to establish coastal erosion rates, to characterize the studied beaches from a morphodynamic point of view, to analyze the impact of storms and clusters. define vulnerability indices and inherent coastal risks.
As técnicas aplicadas tanto num caso como no outro ainda são ainda muito rudimentares, face aos desenvolvimentos técnicos mais recentes. The techniques applied in both cases are still very rudimentary in view of the latest technical developments.
As bases pára a estratégia de gestão integrada da zona costeira nacional defendem, rium documentos elaborado por despacho do Ministério do Ambiente, do Ordenamento do Território e do Desenvolvimento Regional {Despacho n°19 212/2005) , entre outros aspectos, a intensificação das medidas de salvaguarda de riscos naturais por via dá monitorização e também assegurar a monitorização continua através da utilização de metodologias inovadoras, uniformes e abrangentes, que. alimentem uma base de dados nacional. De facto, as alterações climáticas, a pressão antrópica sobre o litoral e os evidentes processos de erosão litoral que se manifestam em diversos trechos do litoral motivam a cada vez maior necessidade de um acompanhamento rigoroso, eficiente e produtivo que seja exequível a custos comportáveis, de modo a permitir o desejável acompanhamento regular da evolução da zona costeira. The bases for the integrated management strategy of the national coastal zone argue, according to documents prepared by order of the Ministry of the Environment, Territory and Regional Development (Order No 19 212/2005), among other things, intensifying natural risk safeguard measures through monitoring and also ensuring continuous monitoring through the use of innovative, uniform and comprehensive . feed a national database. In fact, climate change, anthropogenic pressure on the coast and the evident processes of coastal erosion that manifest themselves in various parts of the coast are increasing the need for rigorous, efficient and productive monitoring that is achievable at affordable costs. allow for the desirable regular monitoring of developments in the coastal zone.
Neste contexto, os autores do presente invento consideram que o mesmo poderá dar um contributo muito válido, no que diz respeito à monitorização topográfica de elevada precisão, com vista ao estabelecimento de modelos de elevação do terreno, na faixa litoral, com particular destaque ém praias arenosas. O presente invento apresenta inegáveis vantagens, em termos de custos, relativamente a sistemas aéreos de monitorização topográfica e de produtividade e eficiência relativamente aos tradicionais sistemas de monitorização topográfica de base terrestre. In this context, the authors of the present invention consider that it can make a very valuable contribution to high precision topographic monitoring with a view to establishing terrain elevation models in the coastal strip, particularly beaches. Sandy. The present invention has undeniable cost advantages over air topographic monitoring systems and productivity and efficiency over traditional land based topographic monitoring systems.
Em virtude de uma cada vez mais premente necessidade de quantificar as diversas variáveis que afectam uma zona com ^fortes e complexas dinâmicas naturais e antrópicas, o invento que foi desenvolvido poderá servir como uma metodologia de trabalho no âmbito de trabalhos técnicos ou de investigação. A generalização do uso desta invento, no contexto · apresentado, poderá servir como uma fonte de informação para a criação de bases de dados, as quais possam servir como um contributo válido para que decisores políticos, responsáveis da administração pública central e local, agentes económicos e especialistas possam fundamentar as suas decisões. Because of the increasingly pressing need to quantify the various variables that affect a zone with strong and complex natural and anthropic dynamics, the invention that has been developed may serve as a working methodology for technical or research work. The widespread use of this invention in the context presented may serve as a source of information for the creation of databases which can serve as a valid contribution to policy makers, central and local government officials, economic operators. and experts can substantiate their decisions.
Face aos motivos expostos os autores do invento consideram existir um potencial técnico e um interesse económico no invento, o qual deve ser devidamente salvaguardado . In view of the foregoing reasons the inventors consider that there is a technical potential and an economic interest in the invention which must be properly safeguarded.
Apesar dos desenvolvimentos técnicos que ocorreram nas últimas décadas a monitorização topográfica de praias arenosas com vista ao estabelecimento de modelos de elevação do terreno, representativos das morfologias presentes, é escassa é dispendiosa. As técnicas aplicadas, embora precisas, são pouco produtivas em virtude de serem realizadas a pé. De referir, neste contexto, que a estação total e o teodolito, como Sistemas de Posicionamento Local (LPS) , continuam a ser utilizados de forma generalizada em Portugal em muitos outros países, em estudos realizados por empresas de topografia, de cartografia de pormenor ou ainda por universidades . Despite the technical developments that have occurred in recent decades, topographic monitoring of sandy beaches with a view to establishing terrain elevation models, representative of the present morphologies, is scarce and expensive. The techniques applied, although accurate, are not very productive because they are performed on foot. In this context, it should be noted that the total station and theodolite, as Local Positioning Systems (LPS), continue to be widely used in Portugal in many other countries, in studies by topography, detailed mapping or still by universities.
Só muito recentemente metodologias de monitorização mais eficientes começaram a ser desenvolvidas, como é o caso daqueles que aplicam o Sistema de Posicionamento Global (GPS) . As técnicas GPS têm precisões similares às técnicas LPS, com a vantagem da aquisição de dados poder ser feita em modo cinemático, sendo por conseguinte ideais para. funcionarem acopladas a plataformas móveis. Em ambientes litorais as variações de declive do terreno afectam a orientação do veículo (atitude) e induzem erros na determinação da posição, dada pela antena GPS montada sobre a estrutura do veículo, processada relativamente a uma estação de referência local . Por conseguinte, os sistemas de monitorização constituídos por uma única antena montada sobre uma plataforma móvel como aqueles que são referidos por Plant e Holman (1997) e Haxel e Holman (2004) têm um nível de precisão inferior ao das técnicas LPS. Pára determinar a atitude do veículo e eliminar esses erros foram desenvolvidos os sistemas GPS multi-antena montados sobre a plataforma móvel, os quais consistem em duas ou preferencialmente três antenas montadas num sistema ortogonal sobre o veículo (Groat, 2000; List et al . , 2006). Contudo, as plataformas móveis, como é o caso de veículos todo-o-terreno ou moto-quatro, afectam a precisão das medições GPS devido a diversas variáveis, inerentes ao veículo e de difícil calibração, mesmo quando são usados sistemas multi-antena GPS, tal como refere Lancker et al. (2004). Neste sistemas, como as antenas GPS são montadas sobre o veículo, a variação da suspensão do veículo durante o trajecto ou a variação da penetração do veículo no solo, em função da compactação diferencial do terreno, muito comum em ambientes de praia arenosa induzem erros no posicionamento de elementos morfológicos do terreno, os quais podem atingir 0,10 m na componente vertical (Lancker et al. (2004) . Se a esses erros for adicionados os erros do próprio GPS será de admitir um erro na componente vertical do posicionamento, a mais importante para as avaliações morfológicas, da ordem dos 0,15 m. Esse erro pode-se considerar excessivo e desencorajador para ma desejada generalização da utilização de plataformas móveis em estudos que visem estabelecer modelos de elevação do terreno com base em grelhas de perfis obtidas por este método, justificando assim o facto de actualmente, no contexto mundial, a utilização de sistemas GPS em plataformas móveis estar praticamente restrita ao estudo do recuo da linha de costa, numa perspectiva a 2D. A utilização de antenas GPS montadas numa estrutura anexa à plataforma móvel auxilia a evitar esses erros (Cunha, 2002; Baptista et al . , 2008). Contudo, em virtude da estrutura anexa ao veículo contactar directamente com o solo, ocorre uma diminuição do desempenho do veículo e consequente redução da produtividade no levantamento. Only recently have more efficient monitoring methodologies begun to be such as those applying the Global Positioning System (GPS). GPS techniques have similar accuracy to LPS techniques, with the advantage that data acquisition can be done in kinematic mode and therefore ideal for. coupled with mobile platforms. In coastal environments, variations in terrain slope affect the vehicle's orientation (attitude) and induce errors in position determination, given by the GPS antenna mounted on the vehicle frame, processed relative to a local reference station. Therefore, single antenna mounted monitoring systems on a mobile platform such as those referred to by Plant and Holman (1997) and Haxel and Holman (2004) have a lower level of accuracy than LPS techniques. To determine the attitude of the vehicle and eliminate these errors, mobile platform mounted multi-antenna GPS systems have been developed, consisting of two or preferably three antennae mounted on an orthogonal vehicle system (Groat, 2000; List et al., 2006). However, mobile platforms, such as off-road or quad bikes, affect the accuracy of GPS measurements due to various vehicle-inherent variables that are difficult to calibrate even when multi-antenna GPS systems are used. , as reported by Lancker et al. (2004). In such systems, as GPS antennas are mounted on the vehicle, the variation of vehicle suspension during travel or the variation of vehicle penetration into the ground, due to differential terrain compaction, which is very common in beach environments. sandy soil induce errors in the positioning of morphological elements of the terrain, which may reach 0.10 m in the vertical component (Lancker et al. (2004).) If these errors are added, the errors of the GPS itself will admit an error in the vertical component. positioning, the most important for morphological evaluations, of the order of 0.15 m This error can be considered excessive and discouraging for the desired generalization of the use of mobile platforms in studies aiming to establish terrain elevation models based on profile grids obtained by this method, thus justifying the fact that currently, in the global context, the use of GPS systems on mobile platforms is practically restricted to the study of coast line retreat from a 2D perspective. in a structure attached to the mobile platform helps to avoid such errors (Cunha, 2002; Baptista et al., 2008). When the vehicle comes into direct contact with the ground, the vehicle's performance decreases and the lifting productivity is reduced.
O presente invento anula os inconvenientes do sistema anterior, na medida em que as antenas GPS são montadas sobre uma estrutura anexa ao veículo a qual não tem contacto físico com a superfície do terreno. Nesta estrutura anexa é montado entre outros sensores um distanciómétro laser de cadência elevada e com um tempo de aquisição de medida de distância muito curto (da ordem do milisegundo) , que permite medir a distância à superfície do terreno com rigor muito elevado. A precisão final deste sistema GPS multi-antena é da ordem dos 0,05 m na componente vertical, igualando a precisão das tradicionais técnicas de posicionamento local, para um nível de desempenho incomparavelmente superior. The present invention overcomes the drawbacks of the previous system as GPS antennas are mounted on a structure attached to the vehicle which has no physical contact with the ground surface. In this attached structure is mounted among other sensors a high cadence laser distance meter with a very short distance measurement acquisition time (of the order of millisecond), which allows you to measure the distance to the surface of the ground with very high accuracy. The final accuracy of this multi-antenna GPS system is around 0.05 m in the vertical component, matching the accuracy of traditional local positioning techniques for an incomparably higher level of performance.
O presente invento visa, por conseguinte, cobrir uma lacuna na área da topografia dé elevada precisão. Como sectores de intervenção de destacar ás que dizem respeito à monitorização do litoral. No entanto a sua aplicação não se esgota nessa área de intervenção. Os levantamentos topográficos realizados por empresas de topografia e engenharia que realizam acompanhamento de obras públicas e privadas beneficiariam muito com um sistema de levantamento topográfico de base terrestre de baixo custo e eficiente como aquele que foi desenvolvido. The present invention therefore aims to bridge a gap in the area of high precision topography. Intervention sectors include those related to coastal monitoring. However, its application is not limited to this area of intervention. Surveying by topography and engineering companies that perform monitoring of public and private works would benefit greatly from a low-cost and efficient land-based surveying system such as the one developed.
Estado da técnica State of the art
O estudo de diversos processos relacionados com a caracterização morfodinâmica, impacte de temporais e erosão costeira, em praias arenosas, requer que seja efectuada a aquisição de dados topográficos, os quais em muitos casos devem ser obtidos no âmbito de programas regulares de posicionamento de elementos morfológicos representativos da morfologia do terreno. De acordo com as características da zona de estudo e as escalas temporal e espacial envolvidas, várias técnicas de monitorização podem ser consideradas, com vista à aquisição de dados, os quais após interpolação permitem a geração de modelos de elevação do terreno {DEM - Digital Elevation Models) . Distinguem-se dois grupos principais de técnicas, nomeadamente as técnicas de base aérea e as técnicas de base terrestre. The study of several processes related to morphodynamic characterization, temporal impact and coastal erosion in sandy beaches requires the acquisition of topographic data, which in many cases must be obtained through regular programs of positioning of morphological elements. representative of terrain morphology. According to the study area characteristics and the temporal and spatial scales involved, several monitoring techniques can be considered, with a view to data acquisition, which after interpolation allow the generation of terrain elevation models {DEM - Digital Elevation Models). Two main groups of techniques are distinguished, namely air base techniques and ground based techniques.
No contexto das técnicas de base aérea de referir o sistema Laser Aéreo de Varrimento (ALS - Airborne Laser Scanning) , o qual permite a monitorização eficiente de vastas regiões num curto período de tempo. In the context of air base techniques, reference is made to the Airborne Laser Scanning (ALS) system, which enables efficient monitoring of vast regions within a short period of time.
No que diz respeito às técnicas de base terrestre de referir os Sistemas de Posicionamento Local (LPS - Local Positioning System), que recorrem ao teodolito e à estação total. Estas técnicas apresentam sempre limitações em termos de produtividade, uma vez que estão dependentes dé um elemento, a mira, transportado a pé pelo operador, o qual tem de ser estacionado em cada um dos pontos que se pretendem levantar. A precisão destes sistemas é da ordem dos 0.05 m. As regards terrestrial base techniques, refer to the Local Positioning System (LPS), which uses the theodolite and the total station. These techniques always have limitations in terms of productivity since they are dependent on one element, the crosshair, carried by the operator on foot, which has to be parked at each of the points to be lifted. The accuracy of these systems is of the order of 0.05 m.
O recurso ao Sistema de Posicionamento Global (GPS - Global Positioning System) em modo diferencial (Diff rential GPS) ou em tempo real (RTK - Real Time Kine atios GPS) representa vantagens em relação aos anteriores pois permite a aquisição de dados em modo cinemático contínuo, ou seja o operador não necessita de parar para fazer o registo. A precisão destas técnicas, da ordem dos 0,03 e 0,04 m em planimetria e altimetria respectivamente, é considerada muito promissora para o posicionamento de elementos da superfície do terreno. The use of the Global Positioning System (GPS) in differential mode (Diff rential GPS) or real time (RTK - Real Time Kine atios GPS) has advantages over the previous ones because it allows the acquisition of data in mode. continuous kinematic, ie the operator does not need to stop to register. The accuracy of these techniques, of the order of 0.03 and 0.04 m in planimetry and altimetry respectively, is considered very promising for the positioning of ground surface elements.
As metodologias de monitorização que recorrem a antenas GPS montadas em plataformas moveis, como é o caso de veículos todo-o-terreno ou moto-quatro, apresentam vantagens, em termos de produtividade, relativamente a metodologias de transporte a pé da antena. Monitoring methodologies using mobile platform-mounted GPS antennas, such as off-road or quad bikes, have productivity advantages over antenna foot transport methodologies.
No que diz respeito as metodologias de transporte de antenas GPS em veículos, a mais simples é aquela em que uma única antena é montada sobre o veículo (Plant and Holman 1997; Haxel and Holman 2004) . A precisão alcançada na determinação da posição é condicionada pelas variações de inclinação do terreno, as quais afectam a atitude do veículo segundo duas componentes principais, a inclinação lateral (roll) e o mergulho [pitch) . Como exemplo, se for considerando um veículo que transporta uma antena à altura de 1,5 m relativamente ao solo, é de esperar erros na determinação da posição, de 0,13 m, em planimetria e de 0.006 m, em altimetria, para um ângulo de inclinação da superfície do terreno de 5 o relativamente a um plano horizontal de referência. As far as vehicle GPS antenna transport methodologies are concerned, the simplest method is one where a single antenna is mounted on the vehicle (Plant and Holman 1997; Haxel and Holman 2004). Accuracy in position determination is conditioned by variations in terrain slope, which affect the attitude of the vehicle according to two main components, roll and pitch. As an example, if you are considering a vehicle carrying an antenna at a height of 1.5 m above ground, errors in position determination are expected to be 0.13 m in planimetry and 0.006 m in altimeter for a inclination angle of the ground surface of 5 o with respect to a horizontal reference plane.
Os sistemas muiti -antena GPS, que consistem na utilização de duas ou três antenas montadas sobre o veículo, permitem determinar os vectores directores das direcções entre as várias antenas, e por conseguinte, calcular a atitude do veículo, de acordo com as variações de inclinação que este sofre ao longo do trajecto, eliminado assim os erros inerentes à variação da inclinação do terreno (Groat, 2000; Cunha, 2002; List et al . , 2006; Baptista et al . , 2008). GPS multi-antenna systems, consisting of the use of two or three antennas mounted on the allow the steering direction vectors to be determined between the various antennas and therefore to calculate the attitude of the vehicle according to the inclination variations it undergoes along the route, thus eliminating the errors inherent in varying the slope of the terrain. (Groat, 2000; Cunha, 2002; List et al., 2006; Baptista et al., 2008).
Os sistemas multi -antena continuam, contudo, a ser afectados por outro tipo de erros inerentes ao facto das antenas serem montadas directamente sobre a estrutura do veículo. Uma vez que o objectivo se relaciona com a determinação das coordenadas do solo e tendo em conta que as antenas GPS são montadas sobre a carroçaria, a distância entre o centro de fase das antenas, cujas coordenadas são conhecidas, e a superfície do terreno, é afectada por diversas variáveis dé difícil calibração. Como exemplo, uma vez que os veículos todo-o-terreno usam pneus com câmara- de-ar, variações na pressão dos pneus entre sucessivas campanhas, numa mesma área de estudo, pode afectar a análise dos resultados. A própria variação da temperatura atmosférica afecta o volume de ar contido nos pneus. As variações na suspensão do veículo quando em movimento também afectam a precisão das medidas. Outras variáveis, dizem respeito às variações da resistência do solo ao peso do veículo, as quais podem afectar a penetração dos pneus, e consequentemente induzir erros na componente vertical do posicionamento GPS. A variação da resistência do solo é um aspecto frequente em praias arenosas, devido a variações do seu grau de humidade e de compactação, ao longo de um mesmo perfil transversal. Gomo consequência destas variáveis, e de acordo com Lancker et al . , (2004), são de esperar erros no posicionamento da ordem dos 0,10 m, quando se recorre a antenas GPS montadas em veículos. Multi-antenna systems, however, continue to be affected by other errors inherent in the fact that antennas are mounted directly on the vehicle structure. Since the objective relates to the determination of ground coordinates and bearing in mind that GPS antennas are mounted on the body, the distance between the phase center of the antennas whose coordinates are known and the ground surface is affected by several variables of difficult calibration. As an example, since off-road vehicles use inner tube tires, variations in tire pressure between successive campaigns in the same area of study may affect the analysis of the results. The variation in atmospheric temperature itself affects the volume of air contained in the tires. Variations in vehicle suspension when moving also affect the accuracy of measurements. Other variables relate to variations in ground resistance to vehicle weight which may affect tire penetration and therefore induce errors in the vertical component of GPS positioning. Variation of soil resistance is a frequent feature on sandy beaches due to variations in soil humidity and compaction along the same transverse profile. As a consequence of these variables, and according to Lancker et al. , (2004), errors in positioning of the order of 0.10 m are expected when using vehicle mounted GPS antennas.
No que diz respeito a patentes na área do invento de referir aqueles que são desenvolvidos em plataformas aéreas como é o caso de US 5 557 397 de Hyde et al., (1996) sobre um sistema de monitorização montado numa plataforma aérea que recorre a um altímetro làser, um laser scanning, receptor GPS, uma câmara vídeo, computadores e software para posicionamento e determinação das coordenadas tridimensionais de alvos discretos no terreno e da topografia do terreno e de US 5 894 323 de Kain et al., (1999) sobre um sistema de detecção adequado para a obtenção de imagens da superfície do terreno, a partir de uma plataforma aérea, recorrendo a receptores GPS, a uma unidade de sensores inerciais (IMU) e sensores direccionais tais comó uma ou mais câmaras para a obtenção dê imagens da superfície do terreno. No contexto das patentes que são registadas com base em inventos desenvolvidos em plataformas terrestres de referir a US 5 519 620 de Talbot et al., (1996) sobre o desenvolvimento de um sistema de posicionamento com precisão ao nível do centímetro recorrendo a uma estação fixa e a uma estação móvel nas quais são utilizados quatro receptores GPS e um link para comunicações; e US 5 990 809 de Howard, (1999) sobre um sistema de monitorização hidrográfica que recorre a um veículo submergível no qual é adaptado uma antena GPS ; e a US 6 633 814 de Kohli, et al . , (2003) sobre um sistema de navegação para veículo recorrendo ao processamento de medidas de código. With regard to patents in the area of the invention, reference is made to those developed on aerial platforms such as US 5 557 397 by Hyde et al. (1996) on an aerial platform mounted monitoring system using a làser altimeter, laser scanning, GPS receiver, video camera, computers and software for positioning and determining the three-dimensional coordinates of discrete terrain targets and terrain topography and US 5 894 323 by Kain et al., (1999) on a detection system suitable for taking terrain surface images from an aerial platform using GPS receivers, an inertial sensor unit (IMU) and directional sensors such as one or more cameras for imaging purposes of the ground surface. In the context of patents which are registered based on inventions developed on terrestrial platforms, refer to US 5 519 620 by Talbot et al. (1996) on the development of a centimeter-accurate positioning system using a fixed station. and a mobile station in which four GPS receivers and a communications link are used; and US 5,990,809 by Howard (1999) on a river basin monitoring system using a submersible vehicle in which a GPS antenna is fitted; and US 6,633,814 from Kohli, et al. , (2003) on a vehicle navigation system using code measurement processing.
O presente invento diz respeito a um sistema integrado de posicionamento o qual inclui três receptores GPS, um distanciómetro laser e uma unidade de sensores inerciais, montados numa estrutura metálica adaptada lateralmente numa plataforma móvel. Um dos receptores GPS permite, por processamento em modo diferencial, com uma estação de referência local, a determinação com elevada precisão das coordenadas do centro de fase da antena montada no veículo. O distanciómetro laser permite o cálculo da distância à superfície do terreno. Os vários receptores GPS permitem obter as coordenadas dos vectores entre antenas GPS, cujas distâncias são constantes, de que resulta a determinação da atitude do veículo. A unidade de sensores inerciais visa aumentar a robustez na determinação da atitude. The present invention relates to an integrated positioning system which includes three GPS receivers, a laser distance gauge and an inertial sensor unit mounted on a side-mounted metal frame on a mobile platform. One of the GPS receivers allows, by differential mode processing, with a local reference station, the high-precision determination of the phase center coordinates of the vehicle-mounted antenna. The laser distance meter allows the calculation of the distance to the ground surface. The various GPS receivers make it possible to obtain the vector coordinates between GPS antennas, whose distances are constant, resulting in the determination of the attitude of the vehicle. The inertial sensor unit aims to increase robustness in attitude determination.
Este invento tem como objectivo restringir as fontes de erro inerentes ao posicionamento tridimensional de elevada precisão, quando efectuado em plataformas móveis terrestres, apenas aos que são devidos ao GPS quando opera em modo diferencial cinemático, (da ordem dos 0,03 e 0,04 m em planimetria e altimetria respectivamente) , e aos que são devidos à medição do distanciómetro laser, (inferiores a Õ , 01 m) . Uma vez que neste invento o cálculo da distância ã superfície, do terreno é feita por um distanciómetro laser, de elevada cadência» e com um tempo de aquisição de medida de distância muito curto, da ordem do milisegundo, as diversas variáveis do veículo que afectam o posicionamento, principalmente na sua componente vertical, são eliminadas, como é o caso da variação da pressão dos pneus, das variações induzidas pela dinâmica do movimento na suspensão dó veículo e da variação da resistência do solo ao peso dò veículo. The aim of this invention is to restrict the sources of error inherent to high precision three-dimensional positioning when performed on land mobile platforms only to those due to GPS when operating in kinematic differential mode (of the order of 0.03 and 0.04 m in planimetry and altimetry respectively), and those due to laser distance measurement (less than Õ, 01 m). Since in this invention the calculation of the distance to the surface of the ground is made by a laser distance meter , the high rate 'and an acquisition time of measuring very short distance, the millisecond order, the various vehicle variables affecting Positioning, especially in its vertical component, is eliminated, such as the variation in tire pressure, the variations induced by the dynamics of movement in the vehicle suspension and the variation in ground resistance to vehicle weight.
Este invento poderá ainda apresentar vantagens relativamente a outros sistemas multi-antena GPS montados em plataformas móveis, na medida em que no presente caso apenas é exigido que um dos receptores seja um receptor de elevado desempenho, ou seja de frequência dupla, receptor esse que permite a determinação, em modo diferencial, rela ivamente a uma estação de referência local, das coordenadas do centro de fase, ou da base de uma das antenas acopladas lateralmente ao veículo. Os restantes dois receptores e respectivas antenas são utilizados apenas como instrumentos auxiliares para a determinação da atitude da estrutura de suporte do equipamento, bastando para o efeito que sejam de médio desempenho, ou seja de frequência simples. As vantagens em utilizar receptores de frequência simples traduzem-se em termos de custos, uma vez que uma solução deste tipo representa uma redução significativa no custo dos equipamentos GPS. No entanto, estes poderão ser, naturalmente, também de frequência dupla. This invention may also have advantages over other multi-antenna GPS systems mounted on mobile platforms in that in the present case only one receiver is required to be a high performance receiver, ie dual frequency receiver which allows determining, in a differential mode, with respect to a local reference station, the coordinates of the phase center or the base of one of the antennas laterally coupled to the vehicle. The remaining two receivers and their antennas are only used as auxiliary instruments for determining the attitude of the equipment's supporting structure, being that they are of medium performance, ie of simple frequency. The advantages of using single frequency receivers are cost-effective as such a solution represents a significant reduction in GPS equipment cost. However, these may of course also be double frequency.
Este invento anula ainda outros inconvenientes dos sistemas muiti-antena tradicionalmente montados directamente sobre veículos, uma vez que no presente caso, o sistema multi-antena é montado lateralmente, no veículo, permitindo assim delinear morfologias do terreno, como é o caso de cristas de bermas, escarpas de erosão talhadas na praia, ou limite de espraio da onda, em condições de segurança para o veículo e para o seu operador. Neste invento o operador visualiza e acompanha lateralmente as morfologias que pretende posicionar, à medida que desloca o veículo no terreno.  This invention further obviates other drawbacks of multi-antenna systems traditionally mounted directly on vehicles, since in the present case the multi-antenna system is mounted laterally on the vehicle, thus allowing to delineate terrain morphologies such as ridges. shore verges, erosion escarpments, or wave spreading limits, in safe conditions for the vehicle and its operator. In this invention the operator visualizes and laterally tracks the morphologies he wishes to position as he moves the vehicle on the ground.
Por último de referir as vantagens de um sistema de monitorização montado numa plataforma móvel terrestre, relativamente a plataformas aéreas, quando o objectivo se relaciona com o estabelecimento de programas regulares de monitorização. O menor custo e a facilidade em colocar em acção meios de monitorização em praticamente todas as condições atmosféricas poderão representar vantagens no processo de monitorização. Por outro lado o levantamento por meios terrestres goza de outra vantagem relacionada com a possibilidade de fazer aquisição em simultâneo com o levantamento topográfico de amostras sedimentares, muito útil para uma caracterização morfodinâmica . Descrição detalhada da invenção Finally, it should be noted the advantages of a monitoring system mounted on a land mobile platform over aerial platforms when the objective relates to the establishment of regular monitoring programs. The lower cost and ease of deploying monitoring media in virtually all weather conditions may have advantages in the monitoring process. On the other hand, land-based surveying has another advantage related to the possibility of acquisition at the same time as topographical surveying of sedimentary samples, very useful for morphodynamic characterization. Detailed Description of the Invention
Sistema de posicionamento tridimensional, da morfologia da superfície do terreno, de elevada precisão pára ser usado em modo de navegação num veículo terrestre, o qual é caracterizado por compreender uma estrutura rígida de suporte de equipamento constituída por um braço principal metálico, com um elemento extensível no seu extremo que suporta um distanciómetro laser fixo na extremidade inferior desse elemento extensível, uma antena GPS acoplada a um bastão fixo na extremidade superior desse elemento extensível, e respectivo receptor GPS, uma unidade de sensores inerciais com três acelerõmetros e três giroscópios dispostos num sistema de eixos tridimensional ortogonal e com um sensor de temperatura incluído para compensação, montado sobre uma plataforma metálica, nesse braço principal, e orientada segundo as direcções dos eixos longitudinal e transversal do veículo, e dois braços secundários ligados ao braço principal, e a uma barra disposta segundo o eixo longitudinal do veículo, braços esses que suportam duas antenas GPS, acopladas a bastões fixos nesses braços, antenas essas que se encontram ligadas a dois receptores GPS, e ainda uma unidade de recolha síncrona e armazenamento de dados à qual se ligam o distanciómetro, os receptores GPS e a unidade de sensores inerciais . High-precision three-dimensional terrain surface positioning system for navigational use in a land vehicle, which comprises a rigid equipment support structure consisting of a metal main arm with an extendable element at its end, which supports a laser distance gauge attached to the lower end of this extensible element, a GPS antenna coupled to a rod attached to the upper end of this extensible element, and its GPS receiver, an inertial sensor unit with three accelerometers and three gyros arranged in a system orthogonal three-axle axle and with an included compensation temperature sensor mounted on a metal platform on that main arm and oriented in the directions of the longitudinal and transverse axles of the vehicle, and two secondary arms connected to the main arm and to a bar arranged according to eix longitudinal of the vehicle, arms that support two GPS antennas, coupled to rods fixed in those arms, which antennas are connected to two GPS receivers, as well as a synchronous collection and data storage unit to which the distanciometer is connected, GPS receivers and the inertial sensor unit.
Assim o sistema de posicionamento alvo do presente invento é caracterizado por ser um conjunto de equipamentos electrónicos montados numa estrutura de suporte que pode ser adaptada a um veículo todo-o-terreno, equipamentos esses que enviam os dados adquiridos para uma unidade de recolha de forma síncrona e armazenamento, a qual inclui hardware desenvolvido para esse fim. Este sistema é concebido especialmente para que o posicionamento da superfície do terreno não seja afectado por nenhum elemento físico do veículo ou associado ã dinâmica do veículo em movimento. Thus the target positioning system of the present invention is characterized by being a set of electronic equipment mounted on a support structure that can be adapted to an off-road vehicle, which sends the acquired data to a synchronous collection and storage unit, which includes hardware developed for this purpose. This system is specially designed so that the positioning of the ground surface is not affected by any physical element of the vehicle or associated with the dynamics of the moving vehicle.
O presente invento é seguidamente descrito em pormenor, sem carácter limitativo e a título exemplificativo, por meio de uma sua forma de realização preferida, representada nos desenhos anexos, nos quais: The present invention is hereinafter described in detail, without limitation and by way of example, by way of a preferred embodiment thereof shown in the accompanying drawings, in which:
- a fig. 1 é uma representação em perfil esquemático e simplificado de uma concretização do sistema integrado de monitorização, de acordo com o invento; e - fig. 1 is a schematic and simplified profile representation of an embodiment of the integrated monitoring system according to the invention; and
- a fig. 2 é uma representação era planta do dito sistema integrado de monitorização. - fig. 2 is a plan view of said integrated monitoring system.
Fazendo referência às figuras, vai ser agora descrita ã concretização preferida do invento, o qual consiste num conjunto de equipamentos, que enviam dados para uma unidade de recolha de forma síncrona e armazenamento de informação, e que se encontram acoplados a uma estrutura de suporte, a qual é adaptada a um veículo do
Figure imgf000018_0001
suporte e do equipamento, da forma como essa estrutura é adaptada ao veículo, e da arquitectura adoptada para a montagem do equipamento, de acordo com as representações efectuadas nas figuras. Referring to the figures, it will now be described the preferred embodiment of the invention, which consists of a set of equipment, which sends data to a synchronously collecting and storing information unit, and which is coupled to a support structure, which is adapted to a vehicle of the
Figure imgf000018_0001
support and equipment, how that structure is adapted to the vehicle, and the architecture adopted for mounting the equipment, as shown in the figures.
A estrutura de suporte que serve para montagem dos diferentes equipamentos electrónicos que constituem o sistema de posicionamento é uma estrutura externa ao veículo, e que se fixa neste em vários pontos de apoio. Esta estrutura, incluí um braço principal metálico (1) , alinhado segundo a direcção do eixo transversal do veículo e fixo a uma barra metálica (11) , esta última alinhada segundo a direcção do eixo longitudinal do veículo. No interior desse braço existe um segundo braço deslizante (2} , que permite um prolongamento em cerca de 2/3 do comprimento do braço principal, este último com 0.90 m de extensão. 0 segundo braço, deslizante, poderá ser fixo um qualquer ponto do seu curso, por intermédio de dòis parafusos . The support structure used for mounting the various electronic equipment constituting the positioning system is a structure external to the vehicle, which is attached to it at various support points. This structure includes a metal main arm (1) aligned with the direction of the transverse axis of the vehicle and fixed to a metal bar (11), the latter aligned with the direction of the longitudinal axis of the vehicle. Within this arm there is a second sliding arm (2}, which allows for an extension of about 2/3 of the length of the main arm, the latter 0.90 m in length. The second sliding arm can be fixed at any point of the its course by means of two screws.
No extremo superior do braço extensível é montado um bastão (5) que permite acoplar uma antena GPS (4) . O bastão apresenta uma altura suficiente para que não ocorram interferências à recepção do sinal na antena GPS, por parte de qualquer elemento físico do veículo ou seu operador. Na extremidade inferio desse braço é fixa uma chapa metálica (não representada) por intermédio de dois parafusos, a qual serve para acoplar um distanciómetro laser (3) . A fixação da chapa metálica ao braço é feita não por furos, mas por rasgos que permitem que a sua fixação possa ser ajustada lateralmente, ao longo da componente horizontal do braço extensível, permitindo assim que o local onde se encontra o ponto emissor do laser seja alinhado, segundo a direcção da vertical, com o eixo do bastão (5) colocado na extremidade superior desse braçò, e consequentemente com a antena GPS (4) . At the upper end of the extendable arm is mounted a pole (5) which allows to attach a GPS antenna (4). The pole is of sufficient height that interference will not occur to the signal reception at the GPS antenna by any physical element of the vehicle or its operator. At the lower end of this arm is fixed a metal plate (not shown) by means of two screws, which serves to couple a laser distanciometer (3). The fixing of the metal plate to the arm is not made by holes, but by slots allowing its attachment to be adjusted laterally along the horizontal component of the extendable arm, thus allowing the location of the laser emitting point to be aligned in a vertical direction with the axis of the rod (5). ) placed on the upper end of that arm, and consequently with the GPS antenna (4).
Sobre o braço principal (1) existe uma plataforma metálica (8) que permite acondicionar uma unidade de sensores inérciais com três acelerõmetros e três giroscópios dispostos num sistema de eixos tridimensional ortogonal e com um sensor de temperatura incluído para compensação (7) , cujos eixos principais se encontram alinhados com as direcções dos eixos longitudinal e transversal do veículo. On the main arm (1) there is a metal platform (8) which allows the storage of an inertial sensor unit with three accelerometers and three gyros arranged in an orthogonal three-dimensional axis system and with an included temperature compensation sensor (7), whose axes main lines are aligned with the directions of the longitudinal and transverse axles of the vehicle.
A estrutura de suporte de equipamento inclui ainda dois braços secundários (9 e 10) . Cada um desses braços encontra-se fixo, num dos lados, a um dos extremos da barra metálica que se encontra alinhada segundo a direcção do eixo longitudinal do veículo (11) , e do lado oposto, encontra-se fixo ao braço principal (1) . Com esta disposição forma-se uma estrutura de suporte de equipamento com geometria triangular. Na face superior de cada um dos braços secundários são fixos dois bastões (14 e 15) de dimensões idênticas áo bastão que suporta a antena GPS de dupla frequência (5) , que permitem acoplar duas antenas GPS (12 e 13) . A estrutura de suporte de equipamento com geometria triangular foi desenvolvida para ser amovível, de montagem lateral, podendo optar-se por a fixação ser efectuada do lado direito ou esquerdo do Veículo. Para essa fixação são montadas sobre a carroçaria do veículo duas barras metálicas transversais (19 e 20) , recorrendo a elementos semi-rígidos de fixação à carroçaria (22 e 23) de modo a garantir a resistência da estrutura rígida de suporte do equipamento a eventuais movimentos de torção da carroçaria. Nos extremos de cada uma dessas barras metálicas existem duas ranhuras perfuradas que permitem o encaixe da estrutura metálica de suporte de equipamento. The equipment support structure further includes two secondary arms (9 and 10). Each of these arms is fixed on one side to one end of the metal bar which is aligned in the direction of the longitudinal axis of the vehicle (11) and opposite is attached to the main arm (1). ). With this arrangement an equipment support structure with triangular geometry is formed. On the upper face of each of the secondary arms are attached two poles (14 and 15) of identical dimensions to the pole supporting the dual frequency GPS antenna (5), which allows to attach two GPS antennas (12 and 13). The support structure of equipment with triangular geometry has been developed to be removable, side mounted, with the option to be fixed to the right or left side of the vehicle. For this attachment, two transverse metal bars (19 and 20) are mounted on the vehicle body using semi-rigid body fasteners (22 and 23) to ensure that the rigid support structure of the equipment is resistant to eventual damage. body twisting motions. At the ends of each of these metal bars there are two perforated grooves that allow the fitting of the equipment support metal frame.
Os locais de encaixe ao veículo, na estrutura metálica de suporte de equipamento, possuem uma corrediça disposta na vertical e perfurada em vários pontos (24) , á qual permite a inserção nas ranhuras das barras metálicas montadas sobre a carroçaria do veículo (19 e 20) , inserção essa que pode ser feita a várias alturas distintas, relativamente ao solo. Após a inserção é feita a fixação mediante parafusos com porca (não representados) . The vehicle mounting points on the metal support frame have a vertically arranged, multi-point perforated slide (24) which allows insertion into the slots of the metal bars mounted on the vehicle body (19 and 20). ), which may be inserted at different heights from the ground. After insertion, the fixing is made by screws with nut (not shown).
A estrutura metálica de suporte de equipamento é ainda suportada por um varão transversal extensível (21) , que encaixa num dos lados à parte inferior do braço principal (1) da dita estrutura metálica e do outro lado ao chassis do veículo, através de um pino de fixação (26) . Do lado oposto do chassis é montado um contrapeso (25) sob uma barra metálica (27) disposta segundo o eixo transversal do veículo, contrapeso esse que pode ser ajustado em várias posições ao longo do curso dessa barra, em função da variação da posição do elemento extensível (2) do braço principal colocado do lado oposto do veículo. The equipment support metal frame is further supported by an extendable transverse rod (21), which engages on one side with the lower main arm (1) of said metal frame and on the other side of the vehicle chassis by means of a pin mounting bracket (26). On the opposite side of the chassis a counterweight (25) is mounted under a metal bar (27) arranged along the transverse axis of the This counterweight may be adjusted at various positions along the course of that bar depending on the position of the extendable element (2) of the main arm positioned opposite the vehicle.
Os receptores GPS (6, 16 e 17), o distanciómetro laser (3) e a unidade de sensores inerçiais (7) estão ligados a uma unidade de recolha síncrona e armazenamento de dados (18) , montada sobre a carroçaria do veículo, a qual tem possibilidade de comunicação via interface RS232 ou RS485 com os receptores GPS (6, 16 e 17), com o distanciómetro laser (3) e com a unidade de sensores inerçiais (7) . O controlo do funcionamento dos receptores GPS (6, 16 e 17) e do distanciómetro laser (3) é efectuado através de trocas de mensagens segundo protocolos específicos. O armazenamento de dados é efectuado em memória não olátil (flash) com capacidade para 24 horas de registos ém contínuo. The GPS receivers (6, 16 and 17), the laser distance meter (3) and the inertial sensor unit (7) are connected to a synchronous data collection and storage unit (18) mounted on the body of the vehicle. which has the possibility of communication via RS232 or RS485 interface with GPS receivers (6, 16 and 17), laser distanciometer (3) and inertial sensor unit (7). The operation of the GPS receivers (6, 16 and 17) and the laser distance meter (3) are controlled by message exchanges according to specific protocols. Data are stored in non-flash memory (flash) capable of 24 hours of continuous recording.
Uma característica fundamental para o bom funcionamento deste sistema durante um largo período temporal diz respeito ao seu isolamento do meio exterior. Como as áreas de estudo são na zona litoral, o nível de humidade e de salitre é muito elevado, o que impede a utilização de computadores portáteis ou equivalentes. Assim, a unidade de recolha síncrona e armazenamento dê dados (18) encontra-se protegida numa caixa hermética, em alumínio com tratamento anti -oxidação e com isolamento. Salienta-se, ainda, a importante necessidade de sincronização dos dados dos sensores. Os receptores GPS (6, 16 e 17) determinam, para além da posição, uma estimativa de tempo muito precisa (nò sistema de tempo GPS) . Em contrapartida, o distanciómétro laser (3) e também a unidade de sensores inerciais, apenas envia sucessivas medidas sem qualquer indicação do tempo em que ocorreram, pelo que foi necessário considerar, na concepção do sistema de recolha e armazenamento, a sincronização dos dados do distanciómétro. Para tal foi utilizado um sinal de sincronismo (1PPS) enviado por um dos receptores GPS que ê processado, a muito baixo nível, por um micro-controlador (não representado) , integrado no sistema de recolha síncrona, que faz a gestão do sistema de armazenamento. O micro-controlador (PIC18F458) , configura ainda o equipamento ligado ao sistema, e recolhe deste os dados relevantes, e armazena-os. Todos os sensores comunicam com o micro-controlador através de uma quãd-UART que paraleliza as comunicações RS232 (ou RS485 com conversão para RS232) . A key feature for the smooth operation of this system over a long period is its isolation from the outside. As the study areas are in the coastal zone, the level of humidity and saltpeter is very high, which prevents the use of laptops or equivalent. Thus, the synchronous data collection and storage unit 18 is protected in an airtight, insulated aluminum case with isolation. The important need to synchronize sensor data is also highlighted. GPS receivers (6, 16 and 17) determine, in addition to position, a very accurate time estimate (not GPS time system). In contrast, the laser distanciometer (3) and also the inertial sensor unit only send successive measurements without any indication of the time at which they occurred, so it was necessary to consider in the design of the collection and storage system the synchronization of distance. For this purpose a sync signal (1PPS) was used sent by one of the GPS receivers which is processed at a very low level by a microcontroller (not shown) integrated in the synchronous collection system which manages the monitoring system. storage. The microcontroller (PIC18F458) further configures the equipment connected to the system and collects the relevant data from it and stores it. All sensors communicate with the microcontroller via a quart-UART that parallels RS232 (or RS485 with RS232 conversion) communications.
Uma interface de LEDs de sinalização (não representada) indica ao operador informação sobre o estado de preenchimento da memória, sobre o estado de actividade dos sensores e sobre o estado de gravação. O operador pode, através de um simples botão, começar uma nova sessão de gravação de dados , ou terminar a sessão corrente . Todas as sessões são individualizadas no sistema de armazenamento de dados, como se de ficheiros se tratasse. O funcionamento deste sistema de posicionamento baseia-se essencialmente na integração da informação adquirida pelos vários sensores montados sobre a estrutura de suporte. Um dos receptores GPS (6) é utilizado para a determinação da posição tridimensional, com elevado rigor, do topo do bastão principal (5) do sistema. A antena GPS (4) respectiva situa-se no topo desse bastão, cuja base é ocupada pelo distanciómetro laser (3) . A signaling LED interface (not shown) tells the operator information about the memory fill state, the sensor activity state, and the recording state. The operator can, at the push of a button, start a new data recording session, or end the current session. All sessions are individualized in the data storage system as files. The operation of this positioning system is essentially based on the integration of the information acquired by the various sensors mounted on the support structure. One of the GPS receivers (6) is used to determine the highly accurate three-dimensional position of the top of the main pole (5) of the system. The respective GPS antenna (4) is located at the top of this pole, the base of which is occupied by the laser distance meter (3).
A antena GPS (4) funciona em modo diferencial, ou seja, as posições obtidas por essa antena são processadas relativamente a uma estação de referência local (não representada) , permitindo, por conseguinte, efectuar posicionamento absoluto de elevada precisão. The GPS antenna (4) operates in differential mode, that is, the positions obtained by that antenna are processed relative to a local reference station (not shown), thus allowing for high precision absolute positioning.
Na base do bastão principal situa-se o distanciómetro laser (3) cujo feixe fora alinhado com o bastão principal (5). Este sensor tem a capacidade de medir até 1000 amostras por segundo, a distâncias que variam entre 30 cm a 4 metros, e com um rigor superior a 1 cm. Assim, e estando o bastão principal (5) na vertical, conhecendo-se as coordenadas do topo do bastão desse bastão, dadas pelo receptor GPS (6) e respectiva antena GPS (4.) , conhecendo-se o comprimento do bastão (5) e a distância da base deste ao solo, dada pelo distanciómetro laser (3) determina-se com elevada precisão as coordenadas do ponto do solo que está directamente por baixo do sistema . Como não é possível manter a posição vertical do bastão (5) que suporta a antena GPS (4) , durante o levantamento, uma vez que as variações de inclinação do terreno induzem uma variação da inclinação do veículo e consequentemente da estrutura de suporte externa ao veículo, é necessário medir a sua inclinação à medida que o sistema vai percorrendo a área em estudo. Para tal utilizam-se duas antenas GPS adicionais (16 e 17) , as quais permitem definir em conjunto com a antena GPS (4) que está alinhada com o distânciómetro (3),, um triângulo. Tendo em conta que as várias, antenas (4, 12 e 13) estão fixas a bastões {5, 14 e Í5) sobre a estrutura de suporte, são constantes e conhecidas as distâncias entre as antenas, pelo que o processamento dos vectores directores entre as antenas é facilitado. A variação destes vectores directores ■reflecte a variação da inclinação do bastão principal (5) , pois a estrutura das antenas é solidária com este. Determina-se assim a inclinação do bastão principal relativamente à direcção vertical local, o que permite determinar com rigor, por simples análise de geometria, as coordenadas do ponto do solo visado pelo distânciómetro lase (3) .. At the base of the main pole is the laser distance meter (3) whose beam has been aligned with the main pole (5). This sensor is capable of measuring up to 1000 samples per second, at distances ranging from 30 cm to 4 meters, and with a accuracy greater than 1 cm. Thus, with the main pole (5) being vertical, knowing the coordinates of the top of that pole, given by the GPS receiver (6) and its GPS antenna (4.), knowing the length of the pole (5). ) and the distance from its base to the ground, given by the laser distance meter (3), the coordinates of the ground point directly below the system are precisely determined. As it is not possible to maintain the vertical position of the pole (5) supporting the GPS antenna (4) during the lift, as the variations in terrain inclination induce a variation in the vehicle inclination and consequently the external support structure to the vehicle. vehicle, it is necessary to measure its inclination as the system traverses the study area. For this purpose two additional GPS antennas (16 and 17) are used which allow to define together with the GPS antenna (4) which is aligned with the distance meter (3) a triangle. Since the various antennas (4, 12 and 13) are attached to rods (5, 14 and 15) on the support structure, the distances between the antennas are constant and known, so the processing of the directing vectors between the antennas is facilitated. The variation of these steering vectors ■ reflects the variation in the inclination of the main pole (5) as the antenna structure is integral with it. The inclination of the main pole relative to the local vertical direction is thus determined, which makes it possible to accurately determine, by simple geometry analysis, the coordinates of the ground point targeted by the lase distometer (3).
Este sistema de posicionamento pode ter várias modificações, nomeadamente no que diz respeito a estrutura de suporte de equipamento e ao modo como é feita a adaptação à plataforma móvel, de acordo com as características particulares do veículo, em cada caso. Referências: This positioning system may have several modifications, notably as regards the equipment support structure and the way the platform is adapted to the mobile platform, according to the particular characteristics of the vehicle in each case. References:
Baptista, P., Bastos, L., Bernardes, C, Cunha, T., and Dias, J. , 2008. Monitoring sandy shore morphologies by DGPS-a practical tool to generate digital elevation models. Journal of Coastal Research 24 (6) : 1516-1528. Baptista, P., Bastos, L., Bernardes, C, Cunha, T., and Dias, J., 2008. Monitoring sandy shore morphologies by DGPS-a practical tool for generating digital elevation models. Journal of Coastal Research 24 (6): 1516-1528.
Cunha, T., 2002. High Precision Navigation Integrating Satellite Information - GPS - and Inertial System Data. Porto, Portugal: Faculty of Engineering of the University of Porto, PhD. thesis, 223p. Cunha, T., 2002. High Precision Navigation Integrating Satellite Information - GPS - and Inertial System Data. Porto, Portugal: Faculty of Engineering of the University of Porto, PhD. Thesis, 223p.
Groat, C.G., 2000. U.S. Geological Survey: Facing the New Century, Sea Technology, V. 41 No.l, pp. 45-47. Groat, C.G., 2000. U.S. Geological Survey: Facing the New Century, Sea Technology, V. 41 No. 1, pp. 45-47.
Haxel J.H., Holman, R.A., (2004). The sediment response of a dissipative beach to variations in wave climate. Marine Geology 206, 73-99. Haxel J.H., Holman, R.A., (2004). The sediment response of a dissipative beach to variations in wave climate. Marine Geology 206, 73-99.
Lancker V . , Lanckneus J . , Hearn S . , Hoekstra P . , Levoy F . , Miles J., Moerkerke G., Monfort O., Whitehouse R., (2004). Coastal and nearshore morphology, bedforms and sedirnent transport pathways at Teignmouth (UK) . Continental Shelf Research 24, 1171-1202. Lancker V. , Lanckneus J. Hearn S. Hoekstra P. , Levoy F. , Miles J., Moerkerke G., Monfort O., Whitehouse R., (2004). Coastal and nearshore morphology, bedforms and sedentary transport pathways to Teignmouth (UK). Continental Shelf Research 24, 1171-1202.
List, J.H., Farris, A.S., and Sullivan, C, 2006. Reversing storm hotspots on sandy beaches: Spatial and temporal characteristics . Marine Geology 226:261-279. Plant, N.G. and Holman, R.A. , 1997. Intertidal beach profile estimation using video images. Marine Geology, 140, 1-24. List, JH, Farris, AS, and Sullivan, C, 2006. Reversing storm hotspots on sandy beaches: Spatial and temporal characteristics. Marine Geology 226: 261-279. Plant, NG and Holman, RA, 1997. Intertidal beach profile estimation using video images. Marine Geology, 140, 1-24.
Lisboa, 10 de Dezembro de 2009 Lisbon, 10th December 2009

Claims

REIVINDICAÇÕES
1. Sistema posicionamento tridimensional, da morfologia da superfície do terreno, de elevada precisão para ser usado em modo de navegação num veículo terrestre, o qual é caracterizado por compreender uma estrutura rígida de suporte de equipamento constituída por um braço principal metálico (1) , com um elemento extensível no seu extremo (2) que suporta um distanciómetro laser (3) fixo na extremidade inferior desse elemento extensível, uma antena GPS (4) acoplada a um bastão (5) fixo na extremidade superior desse elemento extensível, e respectivo receptor GPS (6) , uma unidade de sensores inerciais com três acelerómetros e três giroscópios dispostos num sistema de eixos tridimensional ortogonal e com um sensor de temperatura incluído para compensação (7), montado sobre uma plataforma metálica (8), nesse braço principal, e orientada segundo as direcções dos eixos longitudinal e transversal do veículo, e dois braços secundários (9 e 10) ligados ao braço principal (1) , e a uma barra disposta segundo o eixo longitudinal do veículo (11) , braços esses que suportam duas antenas GPS (12 e 13) , acopladas a bastões (14 e 15) fixos nesses braços, antenas essas que se encontram ligadas a dois receptores GPS (16 e 17) , e ainda uma unidade de recolha síncrona e armazenamento de dados (18) à qual se ligam o distanciómetro, os receptores GPS e a unidade de sensores inerciais. 1. High-precision three-dimensional terrain surface positioning system for navigational use in a land vehicle, which comprises a rigid equipment support structure consisting of a metal main arm (1); with an extendable element at its end (2) supporting a laser distance gauge (3) attached to the lower end of that extendable element, a GPS antenna (4) coupled to a rod (5) attached to the upper end of that extendible element, and its receiver GPS (6) means a unit of three accelerometers and three gyros inertial sensors arranged in an orthogonal three-dimensional axis system and with an included compensation temperature sensor (7) mounted on a metal platform (8) on that main arm, and oriented along the longitudinal and transverse axle directions of the vehicle, and two secondary arms (9 and 10) connected to the main arm (1), and to a bar arranged along the longitudinal axis of the vehicle (11), which arms support two GPS antennas (12 and 13), coupled to rods (14 and 15) attached to these arms, which antennas are connected to two GPS receivers (16 and 17), and a synchronous data collection and storage unit (18) to which the distance meter, GPS receivers and inertial sensor unit are connected.
2. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 caracterizado por a estrutura rígida de suporte de equipamento, constituída por um braço principal (1) com um elemento extensível no seu extremo (2) e dois braços secundários (9 e 10) , ser fixa ao veículo através de um varão metálico transversal de apoio (21) e duas barras metálicas montadas sobre a carroçaria (19 e 20) recorrendo a elementos semi-rígidos de fixação à carroçaria (22 e 23) de modo a garantir a resistência da estrutura rígida de suporte do equipamento aos movimentos de torção da carroçaria. Three-dimensional positioning system according to claim 1, characterized in that the rigid equipment support structure, consisting of a main arm (1) with an extendable element at its end (2) and two secondary arms (9 and 10), be fixed to the vehicle by means of a transverse metal support rod (21) and two metal bars mounted on the body (19 and 20) using semi-rigid body fasteners (22 and 23) to ensure the strength of the rigid structure supporting the equipment to the body twisting movements.
3. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 e 2 caracterizado por a estrutura rígida de suporte de equipamento ser amovível e poder ser montada no veículo a várias alturas (24) função das características da superfície do terreno, garantido sempre que seja cumprida a distância mínima de operacionalidade do distanciómetro laser (2) de acordo com as especificações do equipamento. Three-dimensional positioning system according to Claims 1 and 2, characterized in that the rigid equipment support structure is removable and can be mounted on the vehicle at various heights (24) depending on the characteristics of the ground surface, provided that it is complied with. the minimum operating distance of the laser distance meter (2) according to the equipment specifications.
4. Sistema de posicionamento tridimensional de acordo com as reivindicações 1 a 3 caracterizado por a estrutura de suporte de equipamento possuir um elemento extensível (2) no extremo do seu braço principal (1) , no qual são montados o distanciómetro laser (3) e a antena GPS (4), elemento esse que permite o ajuste, para cada caso de estudo, do ponto emissor do laser e respectiva antena GPS, ao elemento morfológico da superfície do terreno que se pretende posicionar, garantindo assim o posicionamento de elementos da superfície do terreno de mais difícil acesso, em condições de segurança para o veículo e seu operador. Three-dimensional positioning system according to claims 1 to 3, characterized in that the equipment support structure has an extendable element (2) at the end of its main arm (1), on which the laser distanciometer (3) is mounted and GPS antenna (4), which allows the adjustment, for each case of study, of the laser emitting point and its GPS antenna, to the morphological element of the ground surface It intends to position, thus ensuring the positioning of elements of the most difficult terrain surface, in safe conditions for the vehicle and its operator.
5. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 a 4 caracterizado por a estrutura de suporte de equipamento estar associado a um contrapeso de ajuste lateral (25) , função da variação da extensão do braço principal de modo a não afectar a estabilidade do veículo e consequentemente a segurança do condutor, contrapeso esse que é móvel è se pode montar do lado esquerdo ou direito do veículo, numa barra de fixação situada sob o chassis (27) função do lado onde é montada a estrutura de suporte de equipamento. Three-dimensional positioning system according to any one of claims 1 to 4, characterized in that the equipment support structure is associated with a lateral adjustment counterweight (25), depending on the variation of the extension of the main arm so as not to affect the stability of the consequently the driver's safety, which is movable counterweight, can be mounted on the left or right side of the vehicle on a mounting bar under the chassis (27) depending on the side on which the equipment support structure is mounted.
6. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 caracterizado por possuir uma unidade de recolha síncrona e armazenamento de dados (18) a qual efectua o controlo de funcionamento dos receptores GPS (6, 16 e 17), do distanciómetro laser (3) e da unidade de sensores inerciais (7) , através de trocas de mensagens segundo protocolos específicos. Three-dimensional positioning system according to claim 1, characterized in that it has a synchronous data collection and storage unit (18) which controls the operation of the GPS receivers (6, 16 and 17) of the laser distance meter (3). ) and the inertial sensor unit (7), through message exchange according to specific protocols.
7. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 caracterizado por possuir uma unidade de recolha síncrona e armazenamento de dados (18) a qual efectua a sincronização temporal, relativamente ao referencial de tempo do sistema GPS, fornecido pelos receptores GPS , através do sinal 1PPS e respectiva eticrueta temporal, enviado por RS232, dos dados recebidos dos receptores GPS (6, 16 e 17) , do distanciómetro laser (3) e da unidade de sensores inerciais (7) . Three-dimensional positioning system according to claim 1, characterized in that it has a synchronous data collection and storage unit (18) which synchronizes the GPS system time frame provided by the GPS receivers via the GPS receiver. 1PPS signal and its silhouette sent by RS232 of the data received from the GPS receivers (6, 16 and 17), the laser distance meter (3) and the inertial sensor unit (7).
8. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 caracterizado por possuir uma unidade de recolha síncrona e armazenamento de dados (18) dos diversos sensores, a qual tem a capacidade para ligação a um computador para descarregamento de dados, configuração de funcionamento e reprogramação do software interno do sistema de armazenamento. Three-dimensional positioning system according to claim 1, characterized in that it has a synchronous data collection and storage unit (18) of the various sensors, which has the ability to connect to a computer for data downloading, operating configuration and reprogramming of the internal storage system software.
9. Sistema de posicionamento tridimensional de acordo com as reivindicações 1 e 8 caracterizado por os vários receptores GPS (6, 16, e 17), funcionarem em modo cinemático e terem a capacidade de fornecer os dados em bruto de cada satélite (pseudo-distânçia, medida de fase da portadora e de doppler) à cadência de 1Hz ou superior, dados esses que permitem, em pós-processamento, calcular as coordenadas dos vectores entre antenas GPS, cujas distâncias são constantes, [de (12) para (4) e de (12) para (13) , por exemplo] , ficando assim determinada a atitude, ou seja a orientação tridimensional do bastão (5), que é colinear com o feixe do distanciómetro laser (3), orientação essa que é uma variável função das variações de inclinações do terreno sobre o qual a plataforma móvel se desloca, ao longo da trajectória percorrida. Three-dimensional positioning system according to claims 1 and 8, characterized in that the various GPS receivers (6, 16, and 17) operate in kinematic mode and have the ability to provide the raw data of each satellite (pseudorange). , carrier phase and doppler measurement) at a rate of 1Hz or higher, which enables post-processing to calculate vector coordinates between GPS antennas whose distances are constant, [from (12) to (4) and from (12) to (13), for example], thus determining the attitude, ie the three-dimensional orientation of the rod (5), which is collinear with the laser distanciometer beam (3), which orientation is a variable depending on the inclination variations of the terrain on which the mobile platform moves along the trajectory traveled.
10. Sistema de posicionamento tridimensional de acordo com às reivindicações 1, 8 e 9 caracterizado pela unidade de sensores inerciais (7) , contribuir para melhorar a robustez na determinação da atitude do veículo, principalmente nos casos em que ocorre momentaneamente perda de sinal GPS. Three-dimensional positioning system according to claims 1, 8 and 9, characterized in that the inertial sensor unit (7) contributes to improve the robustness in determining the attitude of the vehicle, especially in cases where GPS signal loss occurs momentarily.
11. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 caracterizado por possuir uma estação GPS adicional, localizada num ponto fixo do terreno, com coordenadas conhecidas, para a possibilidade de um dos receptores GPS (6, 14 ou 15}, montados no veículo, poder funcionar èm modo diferencial (DGPS) de posicionamento. Three-dimensional positioning system according to claim 1, characterized in that it has an additional GPS station located at a fixed point of the ground with known coordinates for the possibility of one of the vehicle-mounted GPS receivers (6, 14 or 15}). , able to operate in differential positioning (DGPS) mode.
12. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 e 11 caracterizado por um dos receptores GPS montados no veículo, e que funciona em modo diferencial relativamente a uma estação de referência, ser um receptor de elevado desempenho, ou seja de dupla frequência (LI e L2) e os restantes receptores montados no veículo poderem ser de médio ou elevado desempenho, ou seja de dupla frequência (LI e L2) ou apenas de frequência simples (LI) . Three-dimensional positioning system according to claim 1 and 11, characterized in that one of the vehicle-mounted GPS receivers operating in a differential mode relative to a reference station is a high-performance, ie dual-frequency ( LI and L2) and the remaining vehicle mounted receivers may be of medium or high performance, ie dual frequency (LI and L2) or single frequency only (LI).
13. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 è 11 caracterizado por o dito receptor GPS seleccionado para funcionar em modo diferencial (6, 16 ou 17) fornecer, era pós processamento, para cada instante de tempo, coordenadas tridimensionais precisas (através da aplicação de algoritmos que fixam a ambiguidade da portadora do sinal GPS) do centro de fase, ou da base, da respectiva antena GPS (4, 12 ou 13) ao longo da trajectória percorrida pelo veículo. Three-dimensional positioning system according to claim 1, characterized in that said GPS receiver selected to operate in differential mode (6, 16 or 17) provides post processing time, for each instant of time, accurate three-dimensional coordinates (by applying algorithms that fix the ambiguity of the GPS signal carrier) of the phase center or base of the respective GPS antenna (4, 12, or 13) along the trajectory traveled by the vehicle.
14. Sistema de posicionamento tridimensional dê acordo com a reivindicação 1 caracterizado por o dito distanciómetro laser (3) permitir o cálculo da distância, com elevado rigor, para cada instante de tempo, entre a superfície do laser e a superfície do terreno, ao longo da trajectória percorrida pelo veículo, com uma cadência elevada e com um tempo de aquisição de medida de distância muito curto (da ordem do milisegundo, pelo menos) . A three-dimensional positioning system according to claim 1, characterized in that said laser distance gauge (3) permits the calculation of the high-precision distance between the laser surface and the ground surface over each instant of time. the trajectory of the vehicle, with a high cadence and a very short distance acquisition time (at least milliseconds).
15. Sistema de posicionamento tridimensional de acordo com a reivindicação 1 e 6 a 13 caracterizado pòr permitir a determinação, em pós processamento, e com elevado rigor, as coordenadas tridimensionais da superfície do terreno ao longo da trajectória percorrida, para cada instante de amostragem, uma vez que é determinável a atitude, ou seja, a orientação tridimensional do bastão (5) , que é colinear com o feixe do distanciómetro laserThree-dimensional positioning system according to Claims 1 and 6 to 13, characterized in that it allows the post-processing determination, with high accuracy, of the three-dimensional coordinates of the ground surface along the trajectory traversed for each sampling moment. since the attitude, that is, the three-dimensional orientation of the rod (5), which is collinear with the laser distanciometer beam, is determinable
(3) , bem como são determináveis as coordenadas tridimensionais da antena GPS montada sobre esse bastão(3), as well as the three-dimensional coordinates of the GPS antenna mounted on this pole are determinable.
(4) , e as distâncias, medidas pelo distanciómetro laser (3) entre o seu ponto emissor e a superfície do terreno, sabendo ainda que é conhecido o comprimento desse bastão(4), and the distances measured by the laser distance meter (3) between its emitting point and the ground surface, while knowing that the length of that rod is known
(5) , pelo que é determinada, por análise vectorial simples, as coordenadas tridimensionais absolutas do ponto visado pelo distanciómetro laser (3) sobre a superfície do terreno , (5), so it is determined by simple vector analysis that the absolute three-dimensional coordinates of the point targeted by the laser distanciometer (3) on the ground surface,
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