DE102005011264A1 - Magnetically active object locating method, involves carrying out magnetic field measurement on attaining area position of probe unit and image processing magnetic field values acquired via search field within area - Google Patents

Abstract

The method involves detecting a current area position of a magnetic field probe unit that is movable in an area using a position detection unit and transferring the unit to a position within a search field. A magnetic field measurement is carried out on attaining the area position corresponding a measurement point within the search field. Magnetic field values acquired via the search field within the area are image processed. An independent claim is also included for a device for locating an object in a given area.

Description

The The invention relates to a method for object location in a predetermined terrain by means of a magnetic field sounding according to the preamble of the claim 1.

to Locating magnetically active objects in a terrain is used on magnetometer, the one of the object hidden in a certain depth of the ground register outgoing induced magnetic field and depending of its strength output a corresponding display signal. A special difficulty in such locations, it consists of the located objects the terrain to find again or what is synonymous with it, a given terrain so to measure that in a certain depth of soil possibly hidden objects clearly detected in their position in the terrain and be marked. For this one uses conventional marking methods back, for example, by striking a marker post at the point where found a positive or very strong location result has been. To get an overview of the spatial To get distribution of the located objects in the area, one creates subsequently a sketch in which the positions of the marking piles are drawn become. This can be done on the usual Surveying techniques used to make the sketch as accurate as possible.

It It is understood that such an approach in several ways is problematic. First once is a uniform location of the given terrain not sure. The location starts at an arbitrary Point, taking the terrain is taken in a more or less regular way. The path itself is usually not readily apparent in the terrain, deviations from a given distance are therefore inevitable. A Marking the locating path, for example by a previously designed Trassierband or a post route, turns out in a very extensive and confusing terrain sometimes very expensive. It therefore happens that either some sections of the site are not be included in the location, while other terrain sections be expired several times. In addition, the need to mark the Position of the located objects provided marking piles or -pflöcke naturally with the tracking device carried be, where for Transport a car or a second person is necessary, the bears the markings. Of course, such a procedure is very cumbersome.

Farther The creation of the sketch of the terrain is often very complex. Especially at confusing natural features is an optical sighting of the marking piles due to visual obstructions often not or only with an increased Effort possible. In addition, the sketch provides only a limited overview of the actually measured magnetic field strengths or over the magnetic field distribution within the terrain. Such information but at the latest then mandatory if the exact location, i. especially the Depth, of the located object should be determined. In this case Not only is it necessary to know the exact location point at which the located object is located, but there are at least two additional measured values in the vicinity of the located object necessary, their geometric position to each other be defined as accurately as possible got to. In this case, the corresponding terrain point must be staked out as exactly as possible and it is necessary to have an often extensive list of surveying data to record. The final effect is the time required for the location within the grounds considerably elevated, where vast amounts of data are basically noted by hand have to.

It Thus there is the task of a method for object location in a specify given terrain, with the first one as possible even places possible second, the creation of a sketch with a possible accurate topographical location specification of the located objects sustainable is simplified and thirdly in the simplest possible extent a accurate location detection, in particular the depth of the located object possible is, in conjunction with this generally the measurement data acquisition and processing is sustainably simplified.

The Task is with a method for object location with the features of claim 1 solved, the dependent claims expedient or advantageous embodiments contain.

The inventive method is characterized in that the terrain in a virtual search box with reticulated over the search field is divided into distributed measurement points, where one current terrain position one in the field moved magnetic field probing device by a position detection device is detected upon reaching a measurement point in the search field corresponding terrain position the magnetic field is a magnetic field measurement is performed and the over the search field determined location-dependent within the grounds determined magnetic field values are processed by imaging.

The magnetic field probe is thus moved over the terrain and detected in position by the position detection device. The Ge Countries is assigned a virtual search field. It consists of a total of net-like distributed measuring points that have been pre-determined with regard to their position. When the magnetic field probing device, when moving in the field, reaches a position detected by the position detection device, which corresponds to a predefined measuring point within the search field, a magnetic field measurement is carried out. The location of the magnetic field measurement in both the search field and in the corresponding area and its positional relationships to other measuring points are therefore defined in a unique way. Together with the measuring point detected in its position and the magnetic field value detected at the relevant measuring point, data are now available for an imaging processing of the measured data.

in the Contrary to the conventional methods according to the invention become the measuring points fixed in advance in their position. This eliminates in principle the otherwise required later Marking work. The area to be searched is clearly defined, the current position of the magnetic field sounder is always Accordingly, the measured magnetic field values are unambiguous related to a fixed position in the terrain. This will be a Mapping the surveyed terrain not in retrospect to the locating processes, but the mapping takes place as an integral part of the object location performed on the site. There are thus two otherwise sequentially executed operations simultaneously executed whereby considerable time can be saved and imaging is particularly accurate.

at a first embodiment the current location of the magnetic field probe is determined by a in terrain stationed terrestrial position detection device detected. In this case, a current location of the magnetic field in the terrain compared with a given location of a measurement point in the search field and upon reaching the predefined location of the measuring point of the position detection device, a signal for the magnetic field probing device to trigger generates the local magnetic field measurement.

The Terrestrial position detection device is located in the terrain, defined thus the assignment between terrain and search box and monitors the current location of the magnetic field sounder. is the magnetic field probing device at a measuring point defined in the search field, a local magnetic field measurement is triggered. Such a procedure is suitable for searching a local, narrow terrain section, whose geographical location is uniquely determined or disregarded needs to be.

at a further embodiment the current location of the magnetic field probe is determined by a the search field detecting satellite-based position detection device detected. In this case, the current location of the magnetic field sounder compared with a given location of a measuring point and at Reaching the predefined location of the measuring point a signal for Trigger generates the local magnetic field measurement.

at this embodiment can be the overarching geographical location of the site to be involved in the planning and evaluation of the location. Because the satellite Position detecting device each point of the earth's surface clearly defined in its geographical position, is thus each measuring point geographically unique and localized. This can a reference between each measuring point and thus the entire search field and any geographical map representation.

Also can expediently in one embodiment upon moving the magnetic field probing means through the distance measuring device connected to the magnetic field probe a traversed path registered and in a run a predefined distance a signal to trigger the local magnetic field measurement are output.

In In this case, the measuring points are defined solely by: Magnetic field measurements take place after fixed path intervals. This method is suitable for narrow, clearly recognizable sections of terrain that are in one clear way without the risk of ambiguity or Ambiguities can be measured.

Conveniently, the location definition of each measurement point can be combined from the terrestrial and / or satellite-based position-sensing device stationed at the search field with the distance measuring device arranged on the magnetic field probing device respectively.

In this case, the movement of the magnetic field sounding device and thus the detection in the field is thus monitored and controlled simultaneously in three ways. The satellite-based position detection device makes it possible to unambiguously relate the locations of the measuring points to an overarching geographical position, while the terrestrial position detection device monitors the movements within the terrain and sets up the distance measuring device at the magnetic field probe tion the concrete movements of the magnetic field sounding device or the user influenced.

The in terrain executed Movement of the magnetic field probe is expediently along a predefined, all measuring points within the search field overlapping Search run executed. This will ensure that all predefined measurement points in the search box, too in terrain achieved and in a correct, easily traceable and rational Order to be taken.

Of the At each measuring point defined magnetic field measured value is connected stored with position information and for generating a spatially resolved measurement map used.

To the Generating the measurement map is a first associated with the search field, lattice constructed from the measurement points using a predefined scale converted into a scaled grid with a convenient image size.

The Positions of the measuring points, i. their place in the area and their mutual distance are clearly defined and form the grid. The grid can scale to any convenient display size using any magnification become. In particular, it may be scaled down to scale Illustration of the search field possible is. The scaled grid forms the skeleton of the displayed measured value map.

On The scaled grid is assigned to each measuring point via the terrain distributed magnetic field strength by a rendering process and / or a color level assignment in the form of a false color representation and / or a pseudo-profile representation and / or a comparable visualization.

Of the Rendering process forms the preparation of the measured Data for a spatial Visualization. The color plane assignment forms the measured magnetic field values clearly on a given color scale and allows so a simple mapping between measured magnetic field value and a easily analyzable image of the magnetic field distribution prevailing in the area. The false color representation offers the advantage that the magnetic field measured values be inserted directly into a topographical map display can. The pseudo-profile visualizes very well certain location-dependent magnetic field changes, Discontinuities or gradients.

A Device for execution of the method is characterized by having a device Magnetic field sounder equipped for position detection, a position detection system, a processing device for local and measured value data and a processing and display unit for Creating a the place and Measured value data visualizing representation.

In a first embodiment the device for position detection is a transmitting / receiving device for a satellite-based Navigation system, in particular the GPS system.

In a second embodiment is the device for position detection as a transmitting / receiving device for a formed terrestrial direction finding signal system.

A embodiment the device for position detection, as a transmitting / receiving device for a satellite-based Navigation system and for terrestrial Peilsignale is formed, is also possible.

The Position detection system is in a first embodiment a satellite-based Navigation system, in particular the GPS system. In a second embodiment the position detection system is a terrestrial radio system.

The method and the device will now be explained in more detail by means of exemplary embodiments. To clarify serve the 1 to 15 , The same reference numbers are used for identical or equivalent parts and method steps. In detail shows:

1 an exemplary representation of an arrangement according to the invention for object location in a terrain,

2a . 2 B an exemplary representation of search fields with an up-down or an up-up scan mode,

3 an exemplary measurement card,

4a an exemplary pseudo-profile representation,

4b an exemplary sectional view with a localized located object,

5 an exemplary block diagram of an arrangement according to the invention for object location,

6 an exemplary flowchart ei data acquisition,

7 an exemplary flowchart of a data storage,

8th an exemplary flowchart of inserting a measured value into a grid,

9 an exemplary flow chart for adding a pulse to a grid,

10 an exemplary flowchart for rendering the determined measurement data,

11 an exemplary flowchart for reworking the measurement data,

12 an exemplary flow chart for adding a sensor signal to a measurement pulse,

13 an exemplary flowchart for generating a display list,

14 an exemplary flow chart for splitting a record at color planes,

15 an exemplary flowchart for correcting a false signal.

1 shows an exemplary representation of an inventive arrangement for object location in a terrain 6 with a series of locatable, magnetically active objects 7 , For the real estate is a virtual search box 10 with a series of virtual measurement points 20 predefined. This from a magnetic field sounder 30 paced. A position detection device 40 continuously determines the current position of the magnetic field sounder 30 in the real terrain and maps the determined position into the virtual search field. A real movement in the terrain thus corresponds to a positional shift of the magnetic field probing device in the given search field. The magnetic field intensities determined by the magnetic field sounding device during the movement within the real terrain and thus within the search field are stored or transferred to a processing unit, processed by imaging and as an imaging image 50 output. The position of the magnetic field probing device can according to 1 be determined in various ways.

At the in 1 the embodiment shown, the position detection device 40 both from a terrestrial position detection device 60 , as well as from a satellite-based position detection device 70 , The terrestrial position detector 60 consists in this embodiment of at least two Peilsendern 61 using a direction-finding device 62 at the magnetic field sounder 30 communicate. By locating the magnetic field sounder in the field their current terrain location can be determined and transmitted to a position within the search field. In a comparable manner, the magnetic field probing device with the satellite-based positioning system, for example via a GPS transmitter 71 on the satellite or a GPS transmitter 72 communicate at the magnetic field probe. Regardless of the concrete position determination in the field, the current location of the magnetic field sounder 30 continuous with the positions of the measuring points predefined within the search field 20 compared. Is the instantaneous location of the magnetic field probe 30 within predetermined tolerances with the given location of a measuring point, a magnetic field measurement is started at the magnetic field probing and recorded a magnetic field measured value. The magnetic field measurement can be triggered either automatically or the output of an acoustic and / or optical signal, which prompts the user of the magnetic field sounder for performing a magnetic field measurement. The measured data determined thereby are stored and assigned to the position of the magnetic field sounding device within the search field and thus also of the real terrain. They thus serve as a spatially resolved data material for creating a measured value map.

To the Operation of the magnetic field probing device can be applied to the state of the art recourse to the art known methods for magnetic object location become. This applies in particular electronically or atomically working magnetic field measurement methods, such as flux gate sensors, "Förster probes" or other Saturationskernverfahren or proton resonance probes or else optically pumping magnetometer measuring techniques. Furthermore, you can also gradiometer arrangements and methods of at least two in a predetermined distance arranged magnetic field probes for use come, with which local gradients in the magnetic field distribution in terrain let determine.

Regardless of the specific method used, each location where a magnetic field measurement is made, thus forms a point in the magnetic field distribution prevailing in the field. The totality of points describes the entire magnetic field in the terrain. The location of each point is defined in advance as a unique measurement point. The set of measuring points forms the previously defined search field, which in turn is unambiguously assigned to the real terrain. Equally, every path taken in real terrain clearly corresponds to a path within of the search field.

The 2a and 2 B illustrate a search field in the form of one of the predefined measuring points 20 constructed grid structure 80 in conjunction with two possible scan modes for lane departure. The grid 80 or the measuring points 20 are purposefully planned in advance. They indicate at least the distances between two adjacent measurement points in real terrain, in particular step sizes, step numbers or exact meter information, as well as the total extent and the cut of the search field defined therewith. In addition to the pure location information, the measurement points can also be assigned additional information relating to the physical measurement method. Thus, for example, device parameters of a particular fluxgate probe used or of a certain type of device or of a customary measuring procedure can be taken into account, for example when planning a certain tolerance range around the geometric location of the measuring points.

In the embodiments of 2a and 2 B the search fields shown here are square. However, rectangular or polygonal limited search fields are also readily possible. Likewise, it is not mandatory that the structure of the grid be orthogonal. In the figures shown here is for the given grid structure of the search field is also the path to be performed for the magnetic field sounding of the search field or for running the entirety of the measuring points 20 established. The measuring path defined here contains a series of search paths 21 and search engine crossings 22 on which the individual measuring points are started, magnetic field measurements being carried out at the corresponding locations in the area. The path is described in a particularly simple manner as a parameter curve oriented at sections of the grid lines arranged between the measuring points. It is expediently designed in such a way that all of its parts can be traversed in a single pass and as far as possible do not overlap or intersect at a measuring point. In this case, the corresponding path segments are unambiguously described by an index system assigned to the measuring points and thus can be clearly traced for a monitoring algorithm. At the same time, the measuring path, which is so unambiguously described, describes the connections of at least two adjacent measuring points in a unique way.

Two adjacent search paths are each through a search path transition 22 connected. The design of the search path transition 22 Defines how to move from the last measurement point of the previous search path to the first measurement point of the subsequent search path. For running and linking the search paths and thus for driving the predefined measuring points, two possible paths are particularly expedient.

At the in 2a For example, a meandering run of the search field and thus of the terrain is predefined, which is referred to below as an up-down mode. In doing so, the wearer of the magnetic field screening device runs a first search path and the measurement points contained on it as it traverses a certain path in the terrain. Subsequently, the walking direction is changed by bending substantially at right angles to the original direction along a search path transition and passing through another search path in an opposite direction.

In a corresponding way is also in 2 B constructed grid structure constructed. 2 B shows a measuring path, referred to as up-up scanning mode, in which parallel lines of measuring points are run in the same direction. The search engine crossings 22 consist in this embodiment of elongated diagonal between a last measurement point at a first boundary of the search field and a first measurement point of the next search path at the opposite search field boundary.

The size of the grid structure, the search field defined thereby, the design of the measuring path and the distances of the measuring points 20 to each other depend on the specific conditions of application of the object location. These parameters depend in particular on the extent of the terrain to be searched, the type of magnetic field probing device, the sensitivity of the magnetic field probing device, the required spatial resolution, the presumed nature of the objects to be located and the fineness of the magnetic field location. In general, the distances between adjacent measurement points in the search field for a terrain with the extension of 100 by 100 meters approximately 2 to 5 meters, which ensures a sufficient fineness of the magnetic field location.

Since deviations from the ideal predefined location of the corresponding measuring point are virtually unavoidable when the real terrain is being walked on, certain tolerance ranges can be provided around the measuring points and thus the measuring points can have a certain spatial extent. For off-tolerance terrain, audible or visual alerts may be issued indicating that they are too far away from the predefined measurement point and prompting the user to correct their current location. This will prevent either Measurement points omitted, unordered expired or incorrectly assigned.

In addition, the Measuring points are assigned to current markings, which are connected to the Transmitted magnetic field probe and be displayed by it in a suitable form. This can be for Example be sequential numbers that are displayed by means of a numeric display, in particular a segment display. The carrier of Magnetic sounding device can thus easily check themselves whether he started the measuring points in the right order or left one out or has achieved several times.

As well can at the magnetic field probing device by an indicator device the direction in which the nearest measuring point is within of the terrain to visit. For this purpose, the current location of the magnetic field sounding device and its current direction of movement from the position determining system constantly monitored and with the related instantaneous desired direction of the planned next measurement point in the search field compared. The actual direction results from the current direction of movement. She will either extrapolated from past locations or out of position a compass system at the magnetic field probing determined.

The Target direction is transmitted to the magnetic field probing device and the deviation between desired direction and actual direction becomes indicated by this suitable. For this purpose, a comparatively simple Pointer display in which, for example, along an angular division arranged display elements, such as LED or LC segments enabled become. Unless the distances between those transferred to the site Positions of the measuring points are not disproportionately large, the angle division do not have a particularly high fineness. In one related to the terrain Distance of for example two meters between adjacent measuring points enough it, one as mere Indicator direction indicator to provide a subdivision between "left", "straight from "and" right "with gradations of "half left" or "half right". Of course you can the display also have an arbitrarily greater fineness. When Reaction to such a direction indicator performs the Users of the magnetic field probe so long a rotational movement be in its current location until the display is on "straight out "shows and moves Then continue in the direction indicated until he is aware of his arrival the next Measuring point is signaled.

3 shows an exemplary measurement card 75 , The measured value map is generated by a suitable scaling of the predefined grid network structure in conjunction with the magnetic field data measured at the respective measuring points. For this purpose, the grid network data, in particular the distances defined between the individual measuring points and their position relative to one another are displayed with a suitable scaling scale, with each measuring point being assigned a location within the measured value map. Due to the positioning system, in particular the terrestrial beacons 61 and above all the satellite-based positioning system 71 , the assignment of the measured value map to the topography of the real estate is known. An association between the grid of the search field and the actual terrain topography is therefore readily possible. The measured values to be displayed can thus be projected onto a topographical representation of the surveyed terrain.

In the 3 shown map contains a landmark 91 which may be, for example, a selected measurement point within the grid. The landmark serves as a fix and reference point. Furthermore, in the measured value map 75 a compass direction, in particular a north direction 92 which is determined beforehand by means of the satellite-based positioning system, but also by an alignment of the terrestrial positioning system. The measurement data itself will be through a series of visualizations 90 displayed. These may include, but are not limited to, false color representation, color profile representations, three-dimensional visualizations, and the like.

In the example off 3 In particular, lines of the same measured magnetic field intensities are displayed as visualization, which were obtained from the individual measured value data by a rendering process and in particular connect measuring points with the same measured values within certain tolerance ranges. Very closely spaced lines indicate large increasing gradients perpendicular to the line within the measurements and clearly indicate the objects located in the field. Their position can be clearly identified within the measured value map. The measured value map has for this purpose in its edge region an abscissa 94 and an ordinate 95 which, in the exemplary embodiment shown here, have a subdivision according to distance values. In addition, a cut line 93 displayed, with which it is possible to perform profile sections through the landscape of the magnetic field strength lines at selected points of the measured value map. Likewise, color visualizations are possible. Here, all measuring points with the same magnetic field measured values are colored the same way in the measured value map. Measuring points with significantly different magnetic field measurements stand out in terms of color from the Environment. The process steps performed here will be explained in more detail below.

to Creation of the measured value map shown is a determination of a Ground normal value as a measured value offset or measurement background necessary, which takes into account the concrete soil conditions. For example, sand-containing soils have a different measured value offset as loamy and clayey or very humushaltige soils. The soil normal value describes that for a given soil structure characteristic reaction to the Earth's magnetic field. He is expediently directly determined on site by evaluating the measured values of several measuring points where no magnetically active object has been detected, or the soil structure is analyzed and given empirically Ground normal values compared.

4a shows an example of a pseudo profile section through a measurement map. To perform this operation, the data presented in the measurement map is rendered as described below. Rendering is the conversion and linking of the measured location and magnetic field data into a spatial representation, which in principle varies in terms of its perspective. In 4a the measured magnetic field data B are represented as a function of location coordinates x and y which correspond to the search field coordinates or the coordinates of the terrain mapped thereon. In the 4a Given pseudo-profile display allows a very clear and vivid display of location-dependent measurement data and their location-dependent changes, in particular their gradients.

4b shows a schematic section through a soil structure with a calculated from the location-dependent measured values depth of a detected object 5 , For simplicity, in 4b only a location coordinate x and a depth coordinate z are shown. Under the condition that essentially all sections of the located object are at the same depth level and the influence of the soil structure on the magnetic location and in particular the magnetic measurement signal is known, the probable depth of the object can be determined from a total of measurement data distributed over the grid network calculated and displayed in the form of a virtual bottom section.

5 shows a block diagram of an exemplary embodiment of the inventive arrangement for object location according to the method described above. The device consists of the magnetic field sounder 30 , the terrestrial and / or satellite positioning system 40 and a processing device 120 for location and measured value data. At least two of said basic components can be combined to form a common device. For example, the processing device 120 be formed as part of the case in this case expediently terrestrial position detection system and in particular in one of the two in 1 be shown integrated in a device. The processing device 120 may in another embodiment as part of the magnetic field sounder 30 be educated. In this case, the combined device thus formed serves magnetic field probing 30 and processing equipment 120 at the same time for magnetic field probing and data storage and / or data processing. The processing means may also be partially located in either the position detection system, in particular the terrestrial position detection system, or the magnetic field probing means, and may constitute a self-contained unit such as a personal computer or comparable data processing device.

In the in 5 The block diagram shown has the magnetic field sounder 30 one unity 30a for position detection, with the position detection system 40 interacts. According to the foregoing, the unit is 30a designed as a GPS receiver or as a direction finder, or direction finder. The unit 30a can also be designed as a fully or partially self-sufficient component. So it is possible, for example, the unit 30a form as a pedometer or as a distance registering measuring wheel that registers a traversed distance in the field, processed internally or even with the position detection system. The unit 30a may also have the above indications for a measuring point marking or the mentioned direction indicator.

Furthermore, within the magnetic field sounder 30 a central unit 30b provided the operation of the unit 30a and an actual magnetic field probe 30c coordinated. The central unit 30b triggers depending on the in the position detection unit 30a determined location data either a measurement process of the magnetic field probe 30c directly or outputs a signal indicating the user of the magnetic field sounder 30 to trigger a measurement process. The central unit 30b also receives the magnetic field probe during the measurement process 30c registered magnetic field data. It can therefore also be partially designed as a buffer for measuring the magnetic field.

In the 5 exemplified processing device 120 has a transmitter / receiver 120a on with the position detection sys tem 40 and / or with the unit 30a the magnetic field sounder communicates. The transmitter / receiver 120a receives the location data within the terrain and also receives those from the magnetic field probe 30 measured magnetic field data and outputs these records to a memory 120b for storage. In the example off 5 is the processing device 120 a presentation and processing unit 120c affiliated, which executes an image of the terrain location of the magnetic field measuring device in a position within the search field and a position adjustment between terrain location and measuring point position from the stored location and measurement data. In addition, the processing unit generates the previously described measured value map or the representations of the magnetic field measured values derived therefrom and outputs them on a display unit 130 , in particular a monitor, printer or plotter. Conveniently, at least the presentation and processing unit 120c a part of a computer system operating independently of the actual measured value acquisition.

In the 5 shown communicative links between the individual components may be formed depending on the specific device configuration of the components shown, both wireless and wired. Conveniently, for example, the communication between the position detection system 40 and the magnetic field sounder 30 wirelessly, for example via Peilfunksignale, while the data transfer with the presentation and processing unit 120c can be executed via standard interfaces for data transmission between PC and peripheral devices. For this purpose, the usual wired transmission options, as well as wireless communication channels such as blue-tooth or wireless LAN can be used.

in the Following are some essential procedures and Processes are explained in more detail by means of flowcharts.

6 shows an exemplary flowchart for a measurement data acquisition. The data acquisition P1 begins with a query P2 as to whether a data transfer between the individual components and units described above is to be executed or is possible. In the positive case, the process flow branches to a decision P3 about a graphic storage to be executed; in the case of a negative result, in a method step P4 all communication interfaces are closed and the process sequence is ended. If the branch P3 indicates that data already present must be stored, a predefined storage process A described below is executed in a process step P5.

results the branch P3 that no data is to be stored is in a process step P7 a configuration dialog for entering Configuration data of the executable Magnetic field location generated. This process step will include the used device type in connection with device-specific Operating data of the magnetic field probing set. So will Specifically, whether a rover or a walkabout device is used becomes. Furthermore, interfaces used for device communication, for example COM, USB or the like further interfaces, configured and initialized. The configuration dialog includes continue to enter a selected transmission type, for example, the choice between wired or wireless, the definition of a working mode, in particular a decision on a Groundscan, a discrimination or the creation of a live graphic. Furthermore, the configuration dialog relates to a determination of a Pulse count, i. the measuring points to be provided per measuring section or the input of the scanning method, i. especially the choice between an up-up or up-down scan of the terrain. additionally can the already mentioned Ground standard value entered or as part of a single calibration measurement be determined.

The configuration dialog thus determines the mode of operation and the working parameters of the magnetic field location to be carried out, as well as the shape of the grid and thus of the search field. A subsequent review P8 decides on the correctness and internal consistency of the entries made. In the event of an incorrect configuration, the check P8 branches to the end P6 of the process of recording the measured value. In the case of a correct, ie error-free and consistent, totality of the configuration data, the measurement data of the magnetic field measurement are successively recorded. This happens because from a data source P10, ie in particular the magnetic field sensor, in a process step P9 a new measured value is read in via the corresponding interfaces. At a process step P11, in a further-explained predefined process B, this measured value is inserted into the grid. At a process step P12, the recorded and inserted measurement data are rendered in a predefined process E, ie processed for a graphical or three-dimensional representation. Subsequently, a query P13 is made as to whether the data transfer is still in an active state or should be kept. In the case of a positive decision, the process branches back to process step P9 and a new measured value is read in. In the case of a negative decision, the process goes to the process step P4, the corresponding interface is closed and the data acquisition is completed with the process step P6. The process steps P9, P11, P12 and P13 thus form a loop which is executed until no more measurement data are to be detected, ie in particular all measurement points have been processed.

7 explains the predefined process A of data storage in detail. The process begins with a process step A1 to generate an info file. The info file contains all the necessary information to correctly evaluate the data entered and stored. These are in particular information about the applied scan mode, the selected number of pulses, ie the number of measurement points per search path and other clear information about the recorded or scanned search field. In a process step A2, a first fixed measuring point is searched. In a checking step A3 it is decided whether the measuring point has been found. If there is a negative result, process step A3 branches to process end A4. In the case where the first measurement point was found, in a process step A5, the measurement data associated with the measurement point is stored in a file and the process step of data storage A6 is executed. Next, the next measurement point is visited in a process step A7 and the process returns to decision step A3. The loop formed by the process steps A3, A5 and A7 is executed until all measurement points and the measurement data associated with them are stored.

8th Explains the process B of inserting a measured value into a grid more accurately. In a first process step B1, the measuring points are created in the memory and a sufficient space reserved for the data to be acquired. Then a query B2 is made as to whether all magnetic field sensors of the probe have been activated in accordance with the output measuring pulses and their measuring signals have been read. If this has not been done, a sensor signal is added to the corresponding pulse in a process step B8. An associated predefined process D is explained in more detail below. After executing the process step B8, the process B is completed. If the query B2 is answered with a positive result, now a query is made whether all the pulses of the search field, or a single search line have been read. If the result of this check is positive, a query B4 is made as to whether Up-Up has been selected as the scanning method. If the answer is yes, then in a process step B5 the next search path is created in a similar way. If the result of query B4 is no, then in a process step B7 the next search path is created in a reverse manner. The creation of the search path in the same way or vice versa thus depends on the direction in which the search path is traversed and thus relates to the order in which the measurement points of the following search path are expired. The decision B4 is important to allow a correct assignment between measuring point and measured value and a correct link to the neighboring measuring points. Both after the execution of the process step B5 and the process step B7, the execution of the process step B6 in the form of a predefined process C, in which a new measurement pulse is added to the data network, now takes place. The process step B6 is reached directly as a result of a negative result from the query B3. After the execution of the process step B6, the already mentioned process step B8 is carried out. With the completion of the process B8, the process B comes to an end B9.

9 explains the aforementioned process C in more detail. Process C concerns the addition of a new measurement pulse to the given data network, ie the grid structure. Process C begins with a check C1 as to whether a given grid is empty, that is without associated measurement data. If the check C1 results in a positive result, the measuring pulse is added to the data network in a process step C2. Subsequently, in the sequence of the process step C2, a process step C9 is carried out in which the measuring pulse is emptied to receive new data. If the result of the check C1 results in a negative result, a query C3 is made as to whether the first search path is active. If this query yields a positive result, the last measuring pulse of the search path is visited in a process step C5, added in a process step C7 and linked. If the process step C3 yields a negative result, the last search path is found in a process step C4. For this search path, the last measurement pulse is found in a process step C6 as a function of the scan mode. This measuring pulse is added and linked in the already mentioned process step C7, wherein in a process step C8 all measuring points of the new measuring pulse are linked to the neighboring measuring points in the data network. Subsequently, in the already mentioned process step C9, the measuring pulse for recording new data is emptied. The process C thus concludes with the process end C10.

10 describes rendering the measurement data in detail. In a first process step E1, the screen or a corresponding display is deleted. A viewpoint is set, ie a space for the graphic to be displayed is defined on the window of the display. In a branch E2, a work mode is set. In this ge showed embodiment, three working modes are possible. These are referred to as Groundscan, Discrimination and Live Graphics.

Becomes selected as working mode Groundscan, so becomes a variable orthogonal projection in a process step E3 for one Representation of the search field set in a plan view and around a Center point for the projection is centered. Following this is in a process step E6 the grid structure for the following screen display scales. This concerns before all a change the height and width of the search field for display on the display or the defined display section by adjusting the height and width of the grid to the width and height of the viewpoint and through a possible Rotation around the center of the grid. This will be particular executed in the way that a correct screen aspect ratio and a distorted Display of the search field on the display is avoided. In one Process step E8 then becomes center centering for later presentation reversed. The process step E8 opens after all in a decision E9, in which the visibility of a crosshair optional can be set.

Becomes When choosing E2 Discrimination is chosen, so in one following process step E4 a single orthogonal projection set. The representation in this working mode like a profile cut along a selected one Search line executed.

at the decision for Live Graphics will bring a graphic in conjunction with the measurement process online created and temporally parallel to the course of the terrain or generated to expire the measuring points in the search field. This is done in a process step E5 set an orthogonal projection. Either the process step E4 and the process step E5 lead to a process step E7, in which the entire grid grid to the corresponding screen window is adjusted. The process step E7 leads to the already mentioned process step E9, which sets the visibility of a crosshair. In a positive decision, a crosshair over one current point in a step E10 displayed or on a current Depth value set to determine the depth value of the object. The crosshair acts as a cursor, with the individual measuring points can be freely selected on the graphic display. Of the Process then moves to process step E11. In a negative Decision is running the process directly from the process step E9 to the process step E11. At process step E11 it is determined whether the measurement data has been changed are. If this is the case, carried out by a process step E12 as part of a predefined process F, a recalculation of the Measurement data and in a process step E13 in the context of a predefined Process G creates a current displaylist. The displaylist is rendered in a process step E14 for display on the screen. If the branch E11 results in a negative result, the Process directly from process step E11 to process step E14. The process step ends with the transition from the process step E14 to process end E15.

11 shows the previously mentioned process F of a recalculation of the measured data in a more detailed flow chart. The process begins with the process step F1 of the search of a first measuring point. A decision F2 is made as to whether the measuring point exists. If there is a positive result, measurement data for this measuring point are collected in a process step F3. This relates in particular to determining a maximum or minimum, setting or determining a ground normal value as a background and reference value for the magnetic field measurement and assigning a color value based on a color distribution to the measured data measured. Thus, for example, the color value "red" can be assigned maximum or high measured values, "yellow" and "green" for average measured values, and "blue" for ground normal values.

Of the Process is running to a process step F4, in which the next measurement node visited becomes. Subsequently will the process after execution of the process step F4 to the decision step F2. The Loop from the process steps F2, F3 and F4 is run through as long as until either all measuring points have been processed or one measuring point can not be found. In this case, the decision step branches F2 to a process step F5. The process step F5 relates to Evaluate and apply data. In particular, in the frame of process step F5, the extent of the search field, i. its page boundaries, area and Dimensions and the for the scanned terrain typical soil normal value stored. Based on the search field dimensions and the ground normal value are within the process step F5 the color distributions over recalculated the measured values and re-sorted the associated color levels.

The process then proceeds to a process step F6 where a first measurement point is visited. If a subsequent test F7 shows that the first measuring point has been found and the result is yes, a color is assigned to this measuring point in a process step F8, before a next measuring point is then searched in a process step F9. From the process step F9, the process returns to the process step F7. Those from the process steps F7, F8 and F9 existing loop is executed until all measuring points have been found or no more measuring point is available. If this is the case, the process flow branches to the process end F10.

12 shows by way of example the course of the preceding mentioned predefined process D for adding a sensor signal to a measuring pulse. The process D serves to extend the search field and thus the given grid by additional measuring points. In this case, the additional measuring points or points are integrated into the grid of the search field in accordance with the grid geometry and linked to adjacent measuring points.

Of the Process D starts with a process step D1, in which the coordinates of the new measuring point. This concerns both the real coordinates in the terrain, as well as the corresponding coordinates in the given grid. The maximum values already determined in the given grid are and minimum values of the magnetic field measurements are determined and stored and the ground normal value with that of the newly added measuring point adjusted. Next is checked in a decision step D2, if the measurement pulse, the is called the new measuring point, measuring data can be assigned and whether such data at all available. If the result of step D2 is positive, branches the process D to the process step D3, in which the measuring point to the measuring pulse attached becomes. The following process step D5 sets the magnetic field sensor back to the initial state for recording new measurement data. Of the Process branch is thus ended and runs to process end D7.

is the result of the decision step D2 negative, becomes the measuring point inserted in the pulse before all other measuring points. Of the Measuring point becomes with its immediate neighbors in a process step D6 linked. The process branch is running subsequently also to process end D7.

13 exemplifies the previously mentioned predefined process G for generating a display list of post-processed measurement data. The display list is a data set from which the graphic representation can subsequently be generated. The process G begins with the process step G1, in which a possibly existing display list is deleted and thus memory is released. A decision step G2 is now carried out in which it is decided whether the later graphic display is to be displayed as a WIREFRAME or in a SOLID display.

WIREFRAME in this context means a representation of each one Measured value within the grid in a reticulated wireframe representation, SOLID the representation of the entire grid in the form of filled, tiled attached to each other Surfaces. The WIREFRAME representation assumes that all measurements are included given their positions in the grid, SOLID requires one shortcut each measuring point with its neighbors and a calculation of interpolated Measured values in the grid.

Of the Decision step G2 branches depending on the respectively made Selection in a process step G3 for generating the WIREFRAME and a process step G4 for generating the SOLID representation. Both Process steps G3 and G4 enter a process step G5 the first measuring point in the grid is searched for. In a decision step G6 is determined whether the first measuring point exists. With a negative As a result, the process G is completed with the process end G11. If the result is positive, the process branches to the decision step G7, where the activity status a data transfer of a measurement is detected. Is the result positive, the process branches to process step G8, in which the Grid with the measured data and the associated color values becomes. For vertex data are generated for each measuring point and in the list stored. This corresponds to a running parallel to the measurement Real-time representation of the surveyed terrain. In the following Process step G10 will be the next Measuring point visited and the process returns to the decision step G6 back so that give a loop between the process steps G6, G7, G8 and G10 ge is. The loop is executed until all measuring points have been taken and whose measured data are read in.

This Process can also be executed offline. In this case the decision step G7 gives a negative result and the Process is running to a process step G9, in the form of a predefined Process H the given data network to a set of color planes is assigned. The process step G9 leads over the already known step G10, visiting the next one Measuring point, on the decision steps G6 and G7 and forms doing a loop that runs for so long are all measurement points are processed.

14 shows an exemplary process H for splitting a data network to color planes, which is executed as a predefined process within the previously explained process G. The process is carried out in this embodiment so that in each case three vertices within the grid, ie three measuring points, summarized and interpolated on the measured values. The interpolated measured value is assigned to a color value. Each color value is a defined Color level attributed. The mapping of the measured value to the color value takes place via a virtual depth assignment. In this case, the interpolated measured value is attributed a certain length and the color plane a certain depth. The length assigned to the measured value is folded down virtually vertically. If the length of the interpolated measured value and the depth of a color value coincide, the length is virtually folded down to this depth and the color value is thus assigned to the interpolated measured value. All points within a color plane are then joined to form a polygon. The polygon is displayed in the color of the respective color plane.

Of the Process starts with a process step H1. At this step 3 vertices within the grid are entered in a list above which Measured values along a diagonal within one of the three readings interpolated limited section of the grid and the case obtained interpolated measured value in the form of a triangular line virtual worked under the grid. It cuts the generated virtual Deep straight at least one color plane. In a following Process step H2 is now looking for a first color plane. In one Decision step E3 checks if a color plane is found which has such an intersection .. Is that Result positive, the process branches to a process step H4, if there is a negative result, the process is at the process step H5 finished. In process step H4 all intersections become the triangular line found in process step H1 with all Found color levels determined and stored in a list. In a process step H6 now becomes a first point in this list determined. A process step H7 outputs a result of whether such a point has been found. If the result is negative, the process branches to a process step H8, in which the current current polygon is drawn in the color of the layer. The process then runs to a process step H9, where the next color level is determined. This branch of the process leads back to the decision step H3, thus the process steps H3, H4, H6, H7, H8 and H9 form a loop in their execution all Polygonal connects and displays points within a color plane.

In in the case where in the decision step H7 a positive Result is output, runs the process to decision step H10, which checks whether the first point found in the list is in the color plane. If the result is positive, this point becomes the polygon within the Level added in a process step H11. In a process step H12 will be the next point within the list and the process goes back to the decision step H7. For the case that the decision step H10 a negative result results, the process step H12 is executed immediately.

The Process steps H7, H10, H11 and H12 thus form a loop structure, each of which selects the points belonging to a given plane, and which connects these selected points in the color plane.

15 shows an exemplary process flow I for Oberprüfung or correction of a false signal. The purpose of process I is to prevent false signals negatively influencing the graphical representation and evaluation of the measurement data or to filter out physically meaningless measurement data before processing. Process I is carried out in such a way that each individual measuring point within the grid is processed and checked for accuracy. The essential criterion that is applied in the embodiment shown here for checking for freedom from errors is a test as to whether the tested measured value assumes an abnormal maximum or minimum value. Depending on the test result, an adaptation to the measured values for measuring points in the environment is then carried out.

Of the Process I begins with a search I1 for a first measuring point in the grid. In a decision step I2 it is checked whether the Measuring point is present. When a negative result is in a further decision step I3 checked if at least one measured value changed has been. If not, the process I with the process end I8 completed. If the result is positive, the process returns from Process step I3 back to decision step I2. The Process loop between I1, I2 and I3 thus checks whether the first measuring point still valid as starting value or another first measuring point must be selected.

in the Case of a positive result in the decision step I2 the process branches to a decision step I4, in which checked whether the currently processed measured value has a maximum or Minimum value occupies. If this is not the case, the process goes to a process step I5 next, where the next Measuring point is called. The process then returns the decision step I2 back. The process steps I2, I4 and I5 thus form a loop and describe the process flow that will be performed when the measured metrics are reviewed within predefined tolerances.

In the case of a negative result of the decision step I4, the process proceeds to a decision step I6, in which the ascertained maximum value is checked as to whether its amount exceeds a certain standard limit. Is the result of decision step I6 negative, the process goes back to process step I5 and the next measuring point is read. If the result of the decision step I6 is positive, the measured value deviates abnormally from its ambient values or the ground normal value, the measured value is adapted to the ambient values in a process step I7. This can be done in particular by interpolation from the measured values of all surrounding measuring points. The process then returns from process step I7 to process step I5 and the next measurement point is called and processed.

The inventive method was previously explained by means of embodiments. It It is obvious that further changes in the framework of expert action, additions and omissions can take place without the basic idea of the invention to leave. Further embodiments emerge in particular from the dependent claims or combinations of Dependent claims.

6

Terrain, real

7

Object, magnetically active

10

virtual search box

20

measuring point

21

search path

22

Search railroad crossing

30

Magnetfeldsondiereinrichtung

30a

Position detection unit

30b

central processing unit

30c

magnetic field probe

40

Position detection means, generally

50

imaging presentation

60

terrestrial Position detection device

61

tracking device

62

Peilsendereinrichtung

70

satellite-based position detection device

71

GPS transmitter to satellite

72

GPS transmitter at the magnetic field sounder

80

grid

90

visualization

91

landmark

92

North indication of direction

93

intersection

94

abscissa

95

ordinate

120

processing device

120a

Transmitter / receiver

120b

Storage

120c

presentation and processing unit

130

display unit

P

process data collection

A

process data storage

B

process Reading insertion in grid

C

process Add new measuring impulse

D

process Add Sensor signal to measuring pulse

e

process Data rendering

F

process Messdatennachberechnung

G

process Display list generation

H

process Color plane splitting

I

process Faulty signal correction

Claims (15)

Method for object location in a given area by means of a magnetic field sounding, characterized in that the area in a virtual search field ( 10 ) with measuring points distributed over the search field like a network ( 20 ), wherein an instantaneous terrain position of a magnetic field sounding device ( 30 ) by a position detection device ( 40 ) is detected and transmitted to a position within the search field, upon reaching a corresponding to a measurement point within the search field terrain position of the magnetic field probing a magnetic field measurement is performed and the determined over the search field location-dependent detected within the terrain magnetic field values are processed by imaging. Method according to claim 1, characterized in that the current location of the magnetic field probing device ( 30 ) by an off-site terrestrial position detector ( 60 ), wherein - an instantaneous location of a magnetic field probing device in the field with a predetermined location of a measuring point in the search field ( 10 ) is compared and - upon reaching the predefined location of a measurement point of the ter terrestrial position detection device, a signal is transmitted to the Magnetfeldsondiereinrichtung for triggering the local magnetic field measurement. Method according to claim 1, characterized in that the current location of the magnetic field probing device ( 30 ) by a satellite-based position-sensing device ( 70 ), wherein - an instantaneous location of a magnetic field sounder is compared in the field with a predetermined location of a measurement point in the search field and - upon reaching the predefined location of a measurement point, a signal for the magnetic field probe Device for triggering the local magnetic field measurement is generated. Method according to Claim 1, characterized in that, when the magnetic field sounding device ( 30 ) is registered by a path measuring device connected to the magnetic field probing device a traversed Wegstecke and when passing through a predefined path, a signal for triggering the local magnetic field measurement is output. Method according to one of claims 1 to 3, characterized in that the detection of the terrain position of the magnetic field sounding device ( 30 ) and the adjustment with the position of the measuring point ( 20 ) in the search field by an interaction of the terrestrial and / or the satellite-based position detection device ( 60 . 70 ) and arranged on the magnetic field probing distance measuring device takes place. Method according to Claims 1 to 5, characterized in that the movement of the magnetic field sounding device ( 30 ) along a predefined, all measuring points ( 20 ) within the search field covering search path ( 21 ) is performed. Method according to claims 1 to 5, characterized in that for each measuring point ( 20 ) detected magnetic field measured value in connection with position information stored and for generating a spatially resolved measurement map ( 75 ) is used. A method according to claim 7, characterized in that for generating the measured value map ( 75 ) a first the search field associated, from the measuring points ( 20 ) formed grid ( 80 ) is converted to a scaled grid having a convenient map size by applying a scale. A method according to claim 7 and 8, characterized in that on the scaled grid the associated with each measurement point, distributed over the terrain magnetic field strength by a rendering process and / or a color level assignment in the form of a false color representation and / or a pseudo-profile representation and / or a comparable visualization ( 90 ) is pictured. Device for carrying out a method according to one of Claims 1 to 9, characterized by a device for position detection ( 30a ) equipped magnetic field sounder ( 30 ), a position detection system ( 40 ), a processing device ( 120 ) for location and measured value data and a processing and display unit ( 120c ) for creating a presentation visualizing the location and measured value data. Apparatus according to claim 10, characterized in that the device for position detection ( 30a ) is a transmitting / receiving device for a satellite-based navigation system, in particular the GPS system. Apparatus according to claim 10, characterized in that the device for position detection ( 30a ) is a transmitting / receiving device for a terrestrial position detection system, in particular a direction finding signal system. Apparatus according to claim 10, characterized in that the device for position detection ( 30a ) is a combined transmitting / receiving device for a satellite-based navigation system and terrestrial Peilsignale. Device according to claims 10 and 11, characterized that the position detection system is a satellite-based position detection system, especially the GPS system, is. Device according to claims 10 and 13, characterized in that the position detection system is a terrestrial radio system is.