RO126294B1 - Mobile system and process for mapping objects located at a large distance from roads - Google Patents

Abstract

The present invention relates to a mobile system and to a process for mapping objects located at a large distance from roads, and which are directly inaccessible. The claimed system comprises a laboratory vehicle (V.L.) whose position angles and geographical coordinates are real-time determined by means of a GPS receiver sustained by an inertial navigation system (INS) and an Internet connection to a national network of base stations furnishing differential corrections of RTK type (Real Time Kinematic), in conditions wherein an antenna (Ant. GPS) of the GPS receiver is placed in the vicinity of a video camera (C.V) on a mounting platform arranged on a hood of the laboratory vehicle (V.L), the video camera (C.V) having the objective oriented towards the lateral side of the vehicle (V.L.) under a precisely determined fixed angle. The claimed process provides the carrying out of a succession of determinations and an automatic data acquisition and also the implementation of a calculus algorithm by means of which there are carried out: the determination of the value of absolute position angles ( Ψ, Θ, Φ) of a target (T) aimed in relation to a point wherein there is located the video camera (C.V.) at the moment wherein the respective image was acquired and the determination of geographical coordinates of the target (T) in latitude and longitude, by applying some triangulation processes on the values of position angles and azimuth, respectively, ( Ψ) and ( Ψ) of the target T, said angles being determined in relation to North direction (N) of the local magnetic meridian and which corresponds to two different positions (Poz.1 and Poz.2) of the laboratory vehicle (V.L.), positions located at a distance (B.M.) which constitutes the measuring base.

Description

BACKGROUND OF THE INVENTION The present invention relates to a mobile system and to a process for mapping objectives located at great distances from the access roads. The mobile system and the mapping process, according to the invention, are intended for the mapping of objectives or their components, provided that they are at great distances from the road arteries (buildings, land stretches) or are inaccessible directly (dams). , bridges, tailings dumps), from a continuously moving laboratory vehicle.

Inventory of the objectives set along the roads, as well as those suspended along the national highways, is an important problem for the management of the infrastructures by the public works administrators. With the increasing demand to adjust the ever increasing traffic densities, simultaneously with the reduction of the budgets allocated for this purpose, the traditional methods of inventory of the highways are becoming more inefficient.

The different facilities on the highways, of which the traffic signs are mentioned first, may be subject to regulations or specifications regarding their size, positioning or visibility. Consequently, verifying that a single traffic sign is properly disposed of may require manual measurements of the position of the respective sign, in relation to a marking of the reference mileage and to the object indicated by the sign. The distance from the edge of the freeway and the height of the sign above the pavement can also be important. Measuring these parameters is time consuming and requires a lot of work. In addition, it may be necessary to check periodically that the sign has not been damaged until its visibility is compromised, vandalized or damaged for various reasons. From the point of view of protection against possible future litigation, a reference imaging record may be helpful.

The effort involved in these activities is special, both in terms of manpower and financial contribution, requiring not only the time required to make these measurements, but also the time required to travel to and between the prospected sites. To this is added the risk for the safety of the operators as they work and park the vehicles on the busy freeways. Finally, the data, acquired through this intensive investigation (of a single sign), needs to be entered in the same type of database management system.

It is becoming increasingly obvious that in order to adequately meet the needs of measurement and inventory, a radically new solution is needed; a solution that no longer requires manual field measurements and is mostly automatic.

Compared to manual measurements, this automated technology has many advantages, which include:

1. Inventory and measurement measurements can be carried out quickly, with a small delay, between the moment of identifying a characteristic and that of incorporating it into a database. For manual measurements, the time required for this operation is usually longer and may involve significant effort, and interruptions due to traffic control and problems. In addition, in the case of the automatic system, there will be fewer delays due to adverse weather conditions.

2. Due to the speed with which the measurements are made, they become cheaper, even if the capital costs required to purchase the equipment are taken into account.

3. The data collected are more objective, more accurate and evenly reported. Manual measurements are typically performed by different teams of operators with varying degrees of objectivity in measurements and reporting. Depending on the competence of the team, the weather conditions and the degree of fatigue of the team, several errors may occur in manual measurements.

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4. By using these automated technologies, a permanent record 1 can be established. The measurements can be repeated at any time, by re-analyzing the video recording, without the need for a return to the field. 3

Mobile mapping systems (MMS - Mobile Mapping Systems) perform dynamic surveying of road networks and their adjacent objects, in order to create 5 digital maps, which include both road geometry and their characteristics. As a result, mobile mapping systems (MMS) integrate most of the current 7 prospecting techniques, respectively, GPS receivers, inertial sensors, digital imaging, laser telemetry, so a mobile mapping system (MMS) involves a laboratory vehicle that is equipped with: 9

- a high precision global GPS positioning system, such as Carrier-phase Differential Global Positioning 11 Systern (CDGPS), combined with an inertial navigation system (INS) in rigid mount ( strapdown) which ensures the accuracy of the measurements even when it is not possible to receive satellite signals. To measure the distance covered, an odometer (wheel sensor) can be added; 15

- an imaging module, for the acquisition of imaging data, composed of one or more video cameras, to record the environmental elements of the road; the imaging module 17 is synchronized with the GPS time, to obtain the location coordinates and the angular position for each image; 19

- a data processing module, which combines positioning data and images, in order to define a precise and reliable position for the desired objects. In this regard, it is 21 mentioned that the international standard (ISO) GDF - Geographic Data File specifies the way in which the roads must be described, in order to be correctly interpreted by 23 to the navigation systems.

Thus, the American company Lambda Tech International Inc. (Fort Wayne, Indiana, 25 USA) developed a mobile mapping system (MMS), called GPSVision ™, which is equipped with a positioning module consisting of dual frequency GPS receivers, an integrated GPS / INS 27 system, which includes an inertial navigation system (INS) and a distance measurement device (DMI - Distance Measurement Instrument) for measuring the 29 linear distance traveled, in combination with four high resolution digital, video cameras. Being mounted on a laboratory vehicle (self-propelled) or high-speed rail vehicle, 31 the GPSVision ™ system can travel at authorized speeds, on roads and railways, simultaneously with digital image collection of road or rail infrastructure or 33 of their environment.

Digital video cameras are mounted on top of the laboratory vehicle and can be oriented 35 forward, sideways or backwards, depending on the requirements of the application, so that the locations of the targeted targets can be calculated, based on the position of the laboratory vehicle, using 37 algorithms. triangulation, due to the view, at one point, from different positions, of the same area on the ground, with the help of video cameras. 39

As a result, when the integrated GPS / INS system provides the position and direction of the GPSVision ™ system, and the pairs of synchronized cameras take stereo images, 41 which are each marked with the location coordinates and angular position from which they were acquired, whatever visible object in both images of a stereo pair, can be measured 43 and located accurately, in a global coordinate system. The images are taken at intervals of 16 m, for highways and railways, while the purchase distances between 45 and 10 m, defined by the user, can be used for streets in residential or urban areas. 47

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Stereo digital images, GPS data and inertial navigation data are collected and entered in the GPSVision ™ data register, provided that, after processing the GPS data and their differential correction, the positioning data of the targeted objectives are within the limits of a circular area. with a diameter of one meter or less, in relation to their actual location.

A similar example of a mobile mapping and data collection system, which can map railways, road arteries and transport infrastructures (for example, roads, traffic signs and bridges), while traveling at normal traffic speeds, it is represented by the GPSVan ™ system, created by the Mapping Center at Ohio State University, which is also composed of two main components: a positioning module and an imaging module.

The GPSVan ™ Positioning Module integrates a global GPS positioning system, in differential operating mode, with an independent DRS (Dead-Reckoning System) navigation system, which records the vehicle's position during periods of temporary loss of data. GPS (periods of satellite signal blocking by trees or other obstruction elements). Additional attributes, such as traffic signs, bridges, etc. can be recorded by a system operator, by using a laptop and a computer keyboard or touch screen, related to the system laptop.

The imaging module of the GPSVan ™ equipment includes a stereo system of two camcorders, which record stereo images of the road arteries, during the movement thereof, of the laboratory vehicle. The stereo system is complemented by a system equipped with an analog camera, which operates in a continuous video mode, through which it acquires a photographic logging of the prospect. Each video frame is marked in time with the GPS signal, and the geodesic coordinates (respectively, latitude, longitude and ellipsoidal height) are assigned to each image. The stereo digital pairs are processed in a post-mission way, to determine the geodesic coordinates of some objectives, such as the edges and center lines of the roads, curves, traffic signs, mileage limits, etc., with a relative accuracy of 5. .10 cm, within distances of 10 ... 40 meters from the vehicle.

From the foregoing, it turns out that both GPSVision ™ and GPSVan ™ equipment are, in essence, a fixed-base stereo vision system, having the known location and angular position coordinates, provided by the GPS / INS component and, respectively, of GPS / DRS component. This fixed base is represented by the distance, on the width of the hood of the laboratory vehicle, between the optical axes of the two camcorders, mounting distance which, in the case of both GPSVision ™ and GPSVan ™ equipment, is about 1,2 m. However, the difference between the viewing directions of the two cameras is below the minimum value measurable by the optical system, when it targets targets more than 40 m from the laboratory vehicle. This limitation to a rather small value of the viewing distance is also the main disadvantage of stereometric systems based on the use of a pair of video cameras, mounted on the same laboratory vehicle.

To remedy this shortcoming, the Applanix LANDMark ™ mobile mapping system, developed by Applanix Corporation, Ontario, Canada, relies, in its operation, on the use of an automated, digital, single-camera system, for the acquisition of field target images. To make this operation possible, respectively, to provide the Applanix LANDMark ™ mobile mapping system the ability to compare pixels from successive frames, from an image sequence to a markup

EN 126294 Β1 of time, the respective system is provided with a positioning and orientation system for 1 POS LV ™ {Position Orientation System for Land Vehicles), constituted by the tight coupling, made between an inertial measuring unit IMU { Inertial 3 Measurement Unit) and a dual frequency GPS receiver.

Also, another essential component of the equipment (hardware), the 5 positioning and guidance system for POS LV ™ land vehicles, is the DMI (Distance Measurement Instrument), which is 7 mounted on the wheel axis. engines of the laboratory vehicle and which provide electric pulses, at equal angular intervals, of rotation, of the respective wheels. These pulses are converted 9 by the positioning and guidance system for POS LV ™ land vehicles, in incremental distance measurements, traveled [by the vehicle, for situations where 11 GPS signals are not available.

Based on this equipment, in the process of data acquisition, the operator drives 13 the vehicle at the speeds allowed on the respective highway, to record the data on the road surface and / or the objectives on its side. System 15

LANDMark ™ can also be installed on rail vehicles, to perform the same activities and to record the objectives and other features of interest, existing 17 along the route.

It should be noted, however, that although the positioning and guidance system for 19 POS LV ™ land vehicles, used by the Applanix LANDMark ™ mobile mapping system, provides it with proper positioning accuracy, its automatic 21 image acquisition system and, respectively, the optical system assembly of the only digital video camera used, has the disadvantage that it only allows the acquisition of the objectives located in 23 near the road crossings. To compensate for this, the makers of the Applanix LANDMark ™ mobile mapping system have resorted to a solution, which is 25 times harder to apply to all involved in such operations, namely, to the solution of combining the data sources taken from the ground with those taken from aircraft, using 27 applications such as Google Street View ™ and Microsoft Virtual Earth ™, to obtain a top-level view of the precise location of an area of interest. 29

Another unicameral mobile mapping system is represented by the ARAN {AutomaticRoadAnalyser) mobile system, developed by Roadware Group Inc., Ontario, Canada, currently 31 Fugro Roadware Inc., and which is intended to measure and inventory highways, through data collection of measurements related to objects, 33 features, structures and land markings, located along highways and roads, for their planning, management and maintenance. 35

Of the applications of the ARAN mobile system, it is mentioned first of all that this system allows to establish, quickly and repeatedly, an initial database, of 37 management, of the traffic signs. When used in conjunction with the GPS data flow, the ARAN mobile system can be used to assign geographical coordinates - geocoding, center line, road edges and shoulders, along with the location and type of different adjacent road edge elements. . 41

The ARAN mobile system can also be used by the motorway monitoring system

HMS {Highway Monitoring System), to record a number of landmark data such as 43 are: number of tracks, their width and shoulders.

The mobile part of the system performs data collection on the ground and consists of a 45 multifunctional vehicle, equipped with a high resolution video camera, precisely calibrated, mounted inside the vehicle cab and oriented to the right side of the road or on its 47 hood, for obtaining panoramic images, with a distance measuring instrument, for spatial positioning, with a geometrical gyroscopic system and with an ultrasonic level 49 system, for precise measurement of the vehicle's position angle.

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To measure the distances traveled by the laboratory vehicle, during the determinations, an optical encoder, disposed on the motor axis of the vehicle, is used to count the rotations of the respective axis, and the time code of the data acquisition is realized by the marking pulse provided by a recorder video with tape, at intervals of 1/30 s.

at the same time, the current position angle of the vehicle is determined using a system usable for short-distance navigation, namely, a system composed of two conventional gyros, which provide analog type data and from which a gyroscope is used to measure the tangage and the roll, and the second to measure the azimuth. Apart from the absolute values of the vehicle's pitch and roll angles, determined with the gyroscopic group, the equipment with which the ARAN mobile system is provided performs the measurement of these angles and in relation to the road floor plan, with the help of four ultrasonic sensors, arranged at those four corners of the vehicle, sensors that measure the distance between the vehicle chassis and the road surface, at intervals of 1/15 s, with an accuracy of 1.0 mm, in a range between -128 and +129 mm from the date of considered reference.

Optionally, the ARAN mobile system also has a GPS receiver, which is used to obtain more precise position information, provided that the standard GPS data are differentially corrected, for a maximum resolution of up to 1 m. With a lower recording frequency than that used for gyroscopic or level data, GPS data is reported every second or every 30 frames of image, the interpolation between these moments being done by inertial navigation, which uses the data. gyroscopic and those of the measuring instrument of the type electromechanical encoder (encoder) for the measurement of distances.

Data acquisition is ensured by a computer system, and the video system uses a time code to synchronize the acquired images with the geometric and position database. On this basis, the ARAN mobile system is provided with a Surveyor® software application, which can perform measurements on multiple images, using the triangulation process, or on single images, using the idealized freeway plan as a reference. The workstation provided with the Surveyor® software consists of a PC computer, multiple monitors and video tape recorders, and the mentioned computer uses a video capture card capable of compressing the acquired images.

The disadvantage of the solution adopted by the ARAN mobile system is, however, due to the fact that only a GPS receiver is optionally used, so that the external triggering of the video camera is not carried out by the signal received from the GPS satellite system, in order to make the marking. for all images with UTC universal time, each video frame is acquired at intervals of one second or 1/15 s, controlled by the timer of the video tape recorder (tape video recorder), which has the right As a result, the synchronization of multiple images is accompanied by additional errors.

However, a different approach regarding the positioning component solution presents the Photobus mobile mapping system, developed by the Geodetic Engineering Laboratory (TOPO) at the Swiss Federal Institute of Technology in Lausanne-EPFL (Swiss Federal Institute of Technology Lausanne). A set of devices including GPS receivers, an inertial navigation system (INS) and cameras with a photoelectric CCD sensor are mounted on a mobile, land vehicle, with which the Photobus system automatically searches for specific road features, such as center line, markings and road signs, at speeds up to 100 km / h and with a precision of sub-centimeter positioning.

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To achieve a positioning limited only to some objectives, such as 1 traffic signs, whose dimensions are known a priori, and provided that both these objectives and the laboratory vehicle are kept in the same horizontal plane, the 3 Mobile Photobus equipment it uses, separately, a single video camera, which is placed horizontally, perpendicular to the longitudinal axis of the laboratory vehicle. 5

Also, by using a single camcorder separately, real-time mapping of road geometry is performed. For this purpose, the acquisition of images 7 and their processing is carried out autonomously by an Ethercam type camera, oriented downwards in a vertical direction and which is endowed, like the first mentioned camera, 9 with a built-in PC. Being triggered by the external command provided by a GPS pulse, to ensure accurate synchronization, video systems, with CMOS pixels, which capture frames 11 through their CMOS-type pixels, are less affected by the variations in illumination, an effect encountered. for variants using CCD sensors. 13

The second component of the system is a mobile base station, which ensures the real time position and orientation (azimuth) determination for the Ethercam camera in the area crossed by Photobus equipment. This station is based on the use of a dual-antenna GPS receiver, whose primary chip (chip) permanently transmits RTK corrections to the secondary chip, in order to obtain orientation (azimuth) with degree-level accuracy. For this purpose, a regional Internet-based DGPS server 19 was also designed, which contributes to the centimeter level location of the primary chip of the GPS receiver on the Photobus equipment, through a GPRS connection. In the conditions in 21 which collects with a frequency of 5 Hz, the corrections from a base station network, this server transmits the correction RTK messages from the nearest reference. 2. 3

According to the claims of the Photobus equipment makers, the method of using a monoscopic view, provided by a vertically oriented video camera, to extract 25 road geometry, presents considerable advantages over that based on systems that use forward-facing cameras, in the direction of travel. , and methods 27 of stereoscopic feature extraction, due to the fact that:

- allows the use of digital cameras with lower resolution, optical quality and stability;

- reduces the complexity of the calibration and the execution time; 31

- improves the visibility of the target in dense traffic;

- allows fully automated and reliable extraction of features, possibly in real time 33;

- reduces costs while maintaining optical precision at a centimeter level. 35 At the same time, it should be mentioned that the Photobus system is used for center line monitoring, given that the combined DGPS (differentialGPS - GPS 37 differential) and DRS (Dead Reckoning - estimation based navigation) technologies provide positioning accuracy of approx. 1.5 m. Following the improvement of the system, by using a GPS receiver that has the capacity to receive the EGNOS satellite signals, the positioning accuracy is between 2 and 3 m, when the laboratory vehicle moves in an unobstructed area. , so that, taken separately, the correction signals provided by the EGNOS satellite system do not ensure the possibility of locating the laboratory vehicle 43 only within the limits of each separate traffic lane.

The disadvantage of the Photobus system is precisely this small range 45 of its applications, and this is mainly due to the fact that the inertial navigation equipment with which it is provided only ensures the continuous positioning of the laboratory vehicle 47, and not the determination of absolute position angles. of his.

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It is also known from US patent 6526352 B1, 25.02.2003, (INTELLIGENT TECH INT INC, US), having as object a process and assembly for road mapping, in which the assembly for road mapping comprises:

- a set of video cameras, digital, mounted under deflection and elevation angles with predetermined fixed values, on the hood of a laboratory vehicle, continuously moving on a road access road, video cameras mounted so that the optical objective of the video camera is be oriented towards the pavement, in order to allow the automatic acquisition of successive images, from the field, in the area of an objective of interest materialized in a targeted target, located far away from the road access road;

- an inertial navigation unit INS, installed in the laboratory vehicle, for the acquisition of data from the field, data representing the values of the absolute angles of orientation in space of the video camera and of the laboratory vehicle;

- a dual frequency GPS receiver, installed in the laboratory vehicle, for the control of the triggering of the camcorder, the dual frequency GPS receiver being connected, by a tight coupling, with the inertial navigation unit INS, via an interface element for SPAN technology;

- an antenna related to the GPS receiver, with double frequency, mentioned, mounted on the platform disposed on the hood of the laboratory vehicle, on its longitudinal axis.

The mobile mapping system, according to the invention, comprises, unlike the prior art, a single video camera, a system that aims to remove the disadvantages mentioned above, by the following series of combined measures:

- to increase the measuring base of the stereometric system, instead of using two video cameras, mounted on the same laboratory vehicle, a single video camera is used, the measuring base being the distance between the positions from which the video camera, following the movement of the laboratory vehicle, aims at the same objective, placed at a distance that is usually much greater than that which can be taken by bicameral systems;

- to increase the accuracy of marking the acquired video images in time, the operation of triggering the video cameras is performed from the outside, by the signal received from the GPS satellite system, signal that contains in its message, besides the position data and the data regarding UTC universal time;

- to increase the distance from which the target targets can be positioned from the field, use of a high resolution digital camera, fixed mounting on the laboratory vehicle, which is provided with a telemetry lens and a small field of view;

- to increase the positioning accuracy of distant targets, the use of a dual-frequency GPS navigation system with differential operating capacity, closely coupled with an inertial measurement unit IMU, the data of these systems is distributed through a Kalman type filter element;

- To ensure the positioning of the objectives in the global terrestrial coordinate system and their inclusion in Geographic Information System (GIS) files, a methodology and calculation algorithm is used that allows the extraction of coordinates in successive steps. pixels, which correspond, within an image, to the target landmark and the definition of a position vector for this landmark, in relation to the first position of the camcorder, the transfer of this vector to the coordinate system of the laboratory vehicle, and then to the global reference system. Repeat these operations, for the second position of the camcorder, followed by the correlation of the two position vectors of the target landmark, in relation to their measurement base, to finally establish the position of the landmark in relation to the global terrestrial coordinate system. .

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Other features and advantages of the invention are presented in the following description 1 at large of the mobile system and of the process of mapping some objects located at great distances from the road arteries, a description which is referred to including the accompanying drawings, respectively 3, fig. . 1 ... 19, which represents:

FIG. 1, block diagram of the module with which the reception of the 5 RTCM differential corrections is performed;

FIG. 2, the diagram of the location of a GPS antenna (GPS ant.) And a video camera 7 (CV.) On a mounting platform (PI.), Disposed on the hood of a laboratory vehicle (V.L.);

FIG. 3, the scheme of presentation of the laboratory vehicle (VL), with the highlight 9 inside this vehicle, inside which an operating station is arranged, comprising a receiver (GPS) coupled with an inertial navigation unit (INS) and a control unit. calculation and 11 data storage (Comp.);

FIG. 4, the principle diagram of the process of mapping a distant target (T), by 13 targeting it with a single video camera (CV.) From two positions (Position 1) and (Position 2) of the laboratory vehicle (VL) , positions at a distance (Β.M.) that constitute the measurement base 15 and at which the target is detectable in both image frames taken by the video camera;

FIG. 5, the diagram for defining the azimuth angle of the laboratory vehicle; 17

FIG. 6, the diagram for defining the pitch angle of the laboratory vehicle;

FIG. 7, the diagram for defining the roll angle Φ of the laboratory vehicle; 19

FIG. 8, the scheme for defining the rotation angle Ψ _ο of the optical axis of the video camera (CV); 21

FIG. 9, diagram for defining the inclination angle 0 _C of the optical axis of the video camera (CV); 23

FIG. 10, the optical scheme for defining the deviation angles ψ _ρ and θ _ρ of the direction of the target z _T with respect to the direction of the central optical axis z _c of the camcorder, as well as for 25 defining how the image Τ 'of the target is formed in the sensor plane CCD of the video camera; 27

FIG. 11, geometric schemes for determining the expressions for defining the deviation angles ψ _ρ and θ _ρ of the direction of the target according to the linear coordinates, d _x and d _y , of the image 29 of this target on the CCD sensor of the video camera:

a. diagram for determining the expression of the deviation angle ψ _ρ ; 31

b. diagram for determining the expression of the deviation angle θ _ρ .

FIG. 12, the diagram for defining the deviation angle ψ _ρ of the direction of the target in plane 33 horizontally;

FIG. 13, the scheme for defining the deviation angle θ _ρ of the target direction in the vertical plane 35;

FIG. 14, the scheme for defining the absolute azimuth angle of the target Ψ _τ targeted; 37

FIG. 15, the scheme for defining the absolute elevation angle of the target Θ _τ targeted;

FIG. 16, the scheme for defining the absolute rolling angle of the target Φ _τ targeted; 39

FIG. 17, the scheme for determining the position of the target In the horizontal plane of the reference ellipsoid by targeting it from two different positions, and C ₂ , of the video camera, positions 41 resulting from the movement of the laboratory vehicle on the test route;

FIG. 18, the positioning scheme of the target T in geographic coordinates, of 43 longitude and respectively latitude, on an equivalent sphere of the terrestrial globe;

FIG. 19, the scheme for establishing the calculation relation of the height h of the target T in the horizontal plane (P.O.) of the reference ellipsoid.

However, the practical configuration of the mobile mapping system implies, first of all, the definition of the level of precision to be provided by the measuring equipment with which the respective system is provided. 49

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Thus, for the topometric determinations of the T targets in the field, a linear positioning deviation of approximately d = 0.2 m (20 cm) is generally allowed. This condition applies first and foremost to the VL laboratory vehicle, for which positioning with this level of accuracy it is necessary to use a GPS receiver that has the ability to operate in RTK mode (Real Time Kinematic), respectively, has the possibility to connect , via the Internet network, to a GPS station, of reference, to which it is subscribed and from which to take the differential corrections.

Even in the absence of errors due to the own positioning of the VL laboratory vehicle, related to the MMS mobile mapping system, a linear deviation d of the target T positioning occurs due to the angular error e, of measurement, own of the inertial measuring unit IMU, used, so after as it results from the relationship:

360 ° xd in which the notations were used:

e - the angular measurement error, specific to the inertial measurement unit IMU used;

d - the linear deviation of the target T positioning;

D - the actual distance to the target T target.

If the condition defined above, for the GPS equipment, is unique, regardless of the mode of use of the mobile mapping system (MMS - Mobile Mapping System), for the inertial measurement unit IMU, the conditions are different depending on the destination, respectively, the application in which will be used the mobile mapping system:

A) mobile mapping system with two video cameras C.V. and which is used to map the roads traveled by the laboratory vehicle V.L., the traffic signs and the objectives near the traffic artery at a distance D that does not exceed 40 m.

With the above relationship, for d = 0.2 m and D = 40 m, the maximum allowed value for the angular error of the inertial measuring unit IMU is obtained:

e = 0.28 °.

B) mobile mapping system, which can work with only one video camera, and which, in addition to the missions listed above, can also carry out mapping tasks of buildings, bridges, dams, whose maximum distance to the laboratory vehicle V.L. can reach up to D = 200 m.

With the same relation above, for d = 0.2 m and D = 200 m, the maximum allowed value is obtained, for the angular error of the inertial measuring unit IMU:

e = 0.057 °.

whereas the performance and, consequently, and scope of the mobile mapping system are primarily determined by the ability of the GNSS satellite positioning module, as well as the module constituted by the IMU inertial unit of measurement, to ensure the aforementioned levels of accuracy, it is necessary, further, based on the analysis of some aspects of the operation of these two modules, to determine their optimal configuration, for the mobile mapping system, according to the invention, as follows:

a) The GNSS Differential Positioning Module

Global Navigation Satellite System (GNSS) systems, such as NAVSTAR-GPS (US) and GLONASS (Russia), allow high-precision position determination in a geocentric reference system at any point on the earth's surface. , near or outside it, using artificial Earth satellites.

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These GNSS positioning operations are presented in two basic variants: a. 1 single point positioning and b. Differential positioning.

In single point positioning, the location coordinates of a GNSS 3 receiver are determined with respect to the Earth reference frame, using known positions of the tracked GNSS satellites. The position solution, which is generated by 5 receiver and which is greatly affected by the radio wave propagation conditions in the atmosphere, is initially developed, in the ECEF (Earth-Centered-Earth-Fixed) coordinates, 7 coordinates which then are converted to any other regional coordinate system.

In the differential positioning, also known as relative positioning, 9 the coordinates of a GNSS receiver, which represents in this case the rover station, are determined with respect to a GNSS receiver, which constitutes the base station 11 (base station). and whose position was previously determined, with great precision, by using conventional prospecting techniques. In this way, any differences between the known position 13 of the base station and the position calculated at this station based on GNSS satellite techniques can be attributed to the different components of the positioning errors. Base station 15 transmits to the rover station information on each satellite tracked, so that the pseudodistances (satellite-receiver distances) measured by the mobile receiver are corrected 17 based on the differential corrections obtained from the base station.

The corrections transmitted by the base receiver can be pseudodistrict corrections 19 (PRC-Pseudo-Range-Corrections) and corrections of variation of pseudodistances (RRC - Rate of Range Corrections). These corrections can be determined using pseudodistances determined 21 based on the codes transmitted by the satellites (DGNSS - Differential GNSS variant) or on the basis of measurements made using the carrier wave phase (RTK-Real Time Kinematic variant). 23 in the case of the differential method, applied to the phase of the carrier wave of the satellite code signal, RTK positioning solutions are obtained, with much higher accuracies, respectively, 25 on the order of 1 ... 2 cm. In this connection, it should be noted that the instantaneous distance between a GNSS satellite and a receiver can be estimated in terms of a number of wavelengths of the carrier 27 through which the signal propagated. This number, which has a fractional component and an integer component, can be considered as the result of a measurement of 29 pseudodistances (in cycles) with a constant offset, initially unknown. The tracking circuits can determine, in a relatively simple way, the fractional component and the modifications that the whole component of this number of cycles presents 31, provided that, however, the determination of the whole initial component is less direct and actually constitutes , 33 the element of ambiguity of these operations.

For this reason, unlike the algorithms for calculating the pseudodistances within 35 to which the base stations transmit only the corrections, in the case of the algorithms that are applied on the carrier phase, they realize the double difference of the current observations of the receivers 37 from the base station and from at the rover station, double difference that is formed by subtracting, from one another, the measurements made on some identical satellite pairs, received at 39 the two receivers.

The generation of these differential corrections can also be done within a network of 41 reference stations (receivers), such as, for example, EUREF - the European Network for the Dissemination of GPS Differential Corrections, which covers the whole European continent and 43 that keeps in real time. , on the Internet, a Global Navigation Satellite System (GNSS) infrastructure, using GPS / GLONASS stations of its European Permanent Network (EPN 45) permanent network, to disseminate corrections in accordance with the RTCM (Radio Technical Commission for Maritime Services) protocol. 47

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The EUREF network is also interconnected with a national network of permanent GNSS stations, such as ROMPOS®, a network whose correction data services, needed to improve positioning accuracy, can also be used in situations where the user has only a single GNSS receiver, but has the possibility to connect from the ground to the Internet, through GSM / GPRS / CDMA type connections.

Thus, the ROMPOS® - DGNSS service provides corrections for real-time kinematic applications, with positioning accuracy between 3.0 and 0.5 m, for single frequency receivers, and the ROMPOS® - RTK service provides corrections for cinematic applications in real time, with a positioning accuracy between 0.5 and 2.0 cm, for two frequency receivers, the data format provided with a frequency of 1 Hz, for both services, being in accordance with RTCM protocol 2.x, 3.x .

For real-time positioning applications, regardless of the type of network being used, a continuous data link must be established between the reference network and the rover stations, in order for DGPS users to receive the differential corrections generated from the reference network. For the differential positioning in local or regional areas, radio communication systems are used, and for the areas covered in the Internet, this alternative of transmitting and receiving differential corrections is used. Thus, for DGPS and RTK {Real Time Kinematic) applications, which use the Internet, the line of communication between the reference network and a mobile user consists of two consecutive elements: most of the communication distance, which is wired, is covered by the Internet, while the rest of the distances, shorter, to different mobile users, can be covered in good conditions, with cell phones.

Taking into account the aforementioned, for making the module for receiving differential corrections, for the mapping equipment according to the invention, as shown in FIG. 1, a GPS receiver is used, which is provided separately with Correct connectors. RTCM and GPS Correct, for receiving differential corrections of the RTCM type, and for transmitting corrected GPS data, respectively. Through these connectors, the GPS + INS receiver is connected to two serial ports of a computing system - Notebook, so that, through its first port, it receives the corrected GPS data, which corresponds to the user's location, and through the second one. port, transmitted, to the GPS receiver, the differential corrections, received from a distribution network through a cellular mobile phone TM with CDMA operation and connected to a third port of the computer system.

b) GPS-EVS integrated positioning module

As mentioned above, GPS positioning performs distance measurements of the receiver from satellites of the Global Positioning System, measurements based on which the receiver can calculate its position and speed, under the conditions in which, in its field of view. , there are at least four satellites simultaneously.

On the other hand, an inertial navigation system (INS) uses the values of parameters such as the forces and rotations measured by the inertial measuring unit (IMU), to calculate the acceleration, speed and position angles of the user's GSM receiver. The forces are measured by the IMU inertial measuring unit, with accelerometers arranged on three perpendicular axes, and a gyroscope assembly measures the rotations around these axes, provided that the inertial measuring unit (IMU) is provided with a series of initial data, such as location coordinates, initial velocity and position angles, as well as the speed of rotation of the earth and the value of its gravitational field. Even under these conditions, due to the fact that the errors affecting the measurements made by the sensors of the inertial measurement unit (IMU) accumulate

In time, a positioning solution that is based solely on inertial navigation elements 1 will degrade over time, unless external updating of the values of location coordinates, velocity and position angles is ensured. This periodic update is done with the help of a SPAN (Synchronous Position, Attitude and Navigation) interface system, which integrates raw, inertial measurements with all available GPS solutions, which interface 5 is based on the Kalman filter method, whose vector of The status includes position angles, location coordinates, speed, offset accelerometers and 7 gyro derivatives, to provide the best possible solution in any situation. In this way, by using the high precision GPS solution, the measurement errors of the INS inertial navigation system 9 can be modeled and diminished, and on the other hand, the continuity and relative accuracy of the INS inertial navigation solution ensures a faster signal attainment. GPS, following 11 interruptions, as well as increased convergence in obtaining RTK (Real Time Kinematic) solutions. Accordingly, taking into account the above, the system, according to the invention, for mapping objectives located at great distances from the access roads or which are directly inaccessible, comprises a laboratory vehicle VL, which moves with the permitted speeds on the roadway subject to survey and whose position angles and geographical coordinates are determined, in real time, by means of GPS + INS positioning equipment, which includes the GPS receiver, with the capacity to receive the two 19 L1 satellite frequencies and L2, characteristic of a GPS system, and which is supported by the INS inertial navigation unit and a connection to the Internal, which connects the 21 mobile mapping system according to the invention, to a national network of base stations, providing differential corrections, corresponding to the RTK (Real Time Kinematic) operating mode. Between the 23 basic conditions involved in the precise positioning of the targeted T targets, there is also a good synchronization between the moment of the acquisition of the image frames and the universal UTC time of 25 whose signal is provided by the PPS (Puise PerSecond) output of the GPS receiver.

As shown in FIG. 2, an antenna Ant. GPS of the GPS receiver is located 27 on the longitudinal axis z _v of the laboratory vehicle VL on a mounting platform PI., Disposed on its hood. On the same PI mounting platform, to achieve the optical targeting of the 29 field objectives, using a unicameral video system, at a distance m from the antenna, in the direction of the transverse axis.x _r of the VL laboratory vehicle, a video camera is mounted. 31 CV, of which the optical lens is oriented to one side of the laboratory vehicle VL, under a fixed angle _Ψ ο, precisely determined, corresponding to the intended application angle with the 33 system coordonatex _c, z _c, of the video camera CV , is rotated in the horizontal plane of the laboratory vehicle VL, in relation to the coordinate system, x _v , z _v , of it. 35 within a continuous application of determinations, the CV camcorder has a fixed orientation with respect to the laboratory vehicle VL, carrier of the mobile mapping system, according to 37 of the invention, by blocking the rotation in a horizontal plane, of the inclination and the zoom of the camcorder CV, at values at which the CV video camera was calibrated. The calibration data are stored and subsequently used to define the orientation of the CV camcorder relative to the direction of travel of the VL laboratory vehicle and to define the image scale. In addition, every 41 images purchased by the CV camera is marked with the location coordinates and its angular position, by the GPS + INS positioning equipment, with which 43 the mapping equipment according to the invention is provided.

RO 126294 Β1 inside the laboratory vehicle V.L., whose video camera C.V., as shown in fig. 3, refers to a traffic signal S.C., is located an operating station of the mapping system, a station that includes a GPS receiver, coupled with an inertial navigation unit INS and a computing unit Comp., Intended for data calculation and storage.

The mapping process according to the invention involves performing a succession of determinations and automatic data acquisition, as well as implementing a calculation algorithm, with which it is performed: a. Determining the values of absolute position angles, Ψ _τ , Θ _τ , Φ _τ , of of a targeted T target. in relation to the point where the CV video camera is located, when the respective image was acquired and b. determining the geographical coordinates of the target T, in latitude and longitude, in the horizontal plane of the reference terrestrial ellipsoid, by applying the triangulation technique on the values of position and azimuth angles Ψ _{7 |} and, of the target T, angles determined with respect to the north direction N of the local magnetic meridian and corresponding to two positions Pos.1 and Pos. 2, different, of the laboratory vehicle VL, positions as shown in fig. 4, at a distance BM, which constitutes the measurement base and at which the target T target is detectable in both image frames taken by the CV video camera.

In post-processing mode, the operator interacts with the software on which the mapping process is based according to the invention, by pointing, with the mouse of the calculation system, the visualized T targets, from two different locations of the laboratory vehicle V.L.

In a general presentation of the mapping process of targets located at great distances from the road arteries, it can be considered that each pixel selected by the operator from a video image frame represents a vector in space: in this sense, the computation algorithm of the mapping process converts the x and y coordinates of the pixel into a vector of the targeting direction, initially related to the median vector of the CV video camera, the target vector being then rotated in relation to the rotation, pitch and roll of the CV video camera, based on the information concerning the calibration of the CV video camera. Next, the resulting vector is rotated to take over the tangle and roll of the VL laboratory vehicle. in relation to the horizontal plane, using the angular data provided by the inertial measurement unit (IMU). Following the determination, in this way, of the position vectors, of the targeted T target, in relation to two different locations of the VL laboratory vehicle, the mapping software performs a triangulation, to determine the relative position, relative to the laboratory vehicle VL, of the selected target T and then transfer it to a global coordinate system (for example, latitude, longitude, height).

Turning now to the detailed presentation of the mapping process, it is specified that it is based on a calculation algorithm that corresponds to the configuration adopted for the mapping equipment according to the invention and which consists of two main components:

I. The group of relations of calculation of the absolute position angles Ψ _τ , Θ _τ , Φ _τ , of the target T, in relation to point L, in which the lens of the video camera CV is placed.

II. The group of computational relationships with which the position of the target T is determined, in the horizontal plane of the reference ellipsoid.

In turn, the first component of the algorithm comprises the following calculation steps:

A. Defining the position angles Ψ, Θ and Φ of the laboratory vehicle V.L., provided by the inertial measuring unit IMU:

1. The azimuth angle laborator of the laboratory vehicle V.L .;

2. The pitch angle laborator of the laboratory vehicle V.L .;

3. Roll angle Φ of the laboratory vehicle V.L.

RO 126294 Β1

B. Defining the positioning angles Ψ _ο and O _c , of the CV camcorder: 1

4. The rotation angle Ψ _ο of the CV camcorder;

5. Tilt angle O _c of the CV.3 camcorder

C. Defining the deviation angles ψ _ρ and θ _ρ , of the direction of the target T with respect to the direction of the central axis of the CV camera.5

D. Integration into the calculation system of the deviation angles ψ _ρ and θ _ρ , of the direction of the target T: 7

6. Angle of deflection ψ _ρ on the side;

7. The angle of deflection θ _ρ vertically.9

E. Define the absolute positioning angles Ψ _τ , Θ _τ , Φ _τ of the target T:

8. The absolute azimuth angle Ψ _τ of target T; 11

9. absolute elevation angle of the target _T T 0;

10. Absolute roll angle Φ _τ of target T.13

F. Integration into the calculation system of absolute position angles Ψ _τ , Θ _τ , Φ _τ , of the target T targeted.15

The detailed presentation of the calculation algorithm steps listed above has the following aspect: 17

I. The group of relations of calculation of the absolute position angles Ψ _τ , 0 _T , Φ _τ , of the target T targeted.19

A. Defining the position angles Ψ, 0 and Φ of the V.L. laboratory vehicle provided by inertial measurement IMU.21

1. The azimuth angle laborator of the laboratory vehicle V.L. is defined, as shown in FIG. 5, in relation to two coordinate systems arranged horizontally, namely 23:

- the coordinate system x _v , z _v from the horizontal plane of the current location of the 25 laboratory vehicle V.L., system whose axis z _v is oriented in the direction of the local magnetic meridian N; 27

- the coordinate plane system x _v , z _v , relative to the laboratory vehicle V.L., system in which the axis z _v is oriented in the direction of the longitudinal axis of the laboratory vehicle V.L. 29 with respect to these references, the azimuth angle Ψ represents the angle at which it is rotated, in a direct sense, with respect to the coordinate system, x _v , z _v , from the horizontal plane of the current site, 31 the coordinate system x _v yz _v , relative to the laboratory vehicle V.L., respectively, the angle current between the direction of the local magnetic meridian N and the direction z _v of the longitudinal axis of the vehicle 33 laboratoryV.L ..

It is important to note that all coordinate systems that have been defined, 35 as well as those to be defined, originate at the same point L in which the lens of the CV video camera of the mobile mapping system, according to the invention, is placed. 37 in these circumstances, a vector unit A reference to the origin of the point L, the above-mentioned, whose components in the three-dimensional system of coordinates x _v, y _v, z _v, is 39 _XV A _{Oxidation of,} respectively, A _zV shows, in the three-dimensional coordinate system, related to the laboratory vehicle x _v , y _v , z _v , the components A _x . _v , A _y . _v and, respectively, A _z . _v . 41

As shown by the vector diagram in FIG. 5, by which the azimuth angle Ψ of the laboratory vehicle V.L. is defined, between the components of the reference vector A, in the 43 two three-dimensional coordinate systems, there are the following transformation relations:

RO 126294 Β1

A, = A _r οοξΨ - A sin Ψ

A ^Xr = A ^vv = Au · sin Ψ - A. οοξΨ z _v ^x v ^z v

These relations can be transferred to a matrix equation in which the matrix [Ψ] of the azimuth angle is inscribed, with its separate expression:

A. ^X V οοξΨ 0 - sin Ψ Λ April Λ A, yv - 0 1 0 • be. = [ψ] · be. (1) A. ^Z V ΞΐηΨ 0 οοξΨ be. .be.

2. The pitch angle Θ of the laboratory vehicle V.L., as shown in fig. 6, is defined in the vertical plane of the current place where the laboratory vehicle V.L. is located, in relation to two coordinate systems, namely:

- the right coordinate system x _v , y _v , z _v ., connected to the laboratory vehicle VL, system in which the axis _v is oriented in the direction of the longitudinal axis of the laboratory vehicle VL in the horizontal plane of the place;

- the right coordinate system, x _v , y _v , z _v , a system derived from the coordinate system, x _v , y _v , z _v , by rotating it directly, vertically, around the common axis x _v = x _v , with the pitch angle Θ.

As shown by the vector diagram in FIG. 6, defining the pitch angle Θ of the laboratory vehicle VL, between the components, A _x . _v , A _y . _v and A _z . _v , of the reference vector A, in the coordinate _{systemx v} , y _v , z _v and the components A _x .. _v , A _y .. _v and A _z .. _v , of the same vector, in the coordinate system, y _v , z _{v the} following transformation relations exist:

A ^{= A} _x

At ^Xr . = A ^Xr cos0 + A, sin0, · sin0 + Â. · Cos0 ^z v yji ^z v

These relations can be transferred in an equation the matrix in which the matrix [Θ] of the tangent angle is inscribed with its separate expression:

Α .. xy 1 0 0 Α .. yv - 0 COS0 sin0 Α .. ^Ζ ν 0 - sin0 COS0

- I - I________________________________________ I I________________________________________ . Α. II Α. yv yv Α, Α, ^Z V ^Z V

(2)

3. The roll angle Φ of the VL laboratory vehicle, is as shown in fig. 7, from the rotation of the coordinate system, x _v , y _v , z _v around its axis z _v , in the direct sense, with the value necessary to superimpose over the coordinate system

RO 126294 Β1 own, x _v , y _v , z _v , of the VL laboratory vehicle. In this coordinate system, 1 axle _v coincides with the longitudinal axis of the laboratory vehicle VL, axayy is oriented downward toward its floor, and axle _v is oriented perpendicular to the right side of the 3 laboratory vehicle VL.

As shown by the vector diagram in FIG. 7, defining the 5-wheel angle Φ of the laboratory vehicle VL, between the components, A .., A .., A .., a and the vector of ^x v yv ^z v reference A in the coordinate system x _v , y _v , z, and the components / i ..., A ... and A ... of 7 ^x v yv ^z v of the same vector A in the coordinate system x _v , y _v , z, there are the following transformation relations:

A ... = A .. · cosO + A .. sinO A * ^r .. = - * Â „· sin Φ + 4„ cosO â ^x v yv

Zy Zy

These relations can be transferred into a matrix equation in which the matrix [Φ] of the roll angle is inscribed, with its separate expression:

In order to obtain a precise positioning of the landmark of interest in the field, it is necessary that its targeting with the video camera C.V., from two different points of the route traveled, should be made under different viewing angles, as far as possible. For this reason, the video camera C.V. in a position where its optical axis is superimposed on the direction of travel of the VL laboratory vehicle, respectively, on the longitudinal axis of the VL laboratory vehicle. Practically, for each type of field application of the equipment according to the invention, an appropriate set of fixed and rigorously determined values of the rotation angles and inclination of the optical axis of the CV video camera in relation to the own coordinate system of the laboratory vehicle V.L.

4. The rotation angle Ψ _ο of the optical axis of the CV camcorder represents, as shown in FIG. 8, the angle at which the coordinate system x _v , y _v , z _v , of the laboratory vehicle VL, is rotated directly, in its horizontal plane, about its vertical axis y _v , with the value necessary to bring its axis x _v in the vertical plane in which 35 the targeting direction of the CV camcorder is arranged. Considering that prior to this rotation, the x _v , y _v , z _v coordinate system of the VL laboratory vehicle coincided 37 with the x _c , y _c , z _c coordinate system of the CV camcorder, by this rotation with the rotation angle Ψ _ο around the axis y _v = y _c , for the CV video camera, a new system of 39 coordinates x _c , y _c , z _c is obtained.

RO 126294 Β1

As shown by the vector diagram in FIG. 8, defining the rotation angle Ψ _ο of the optical axis of the CV camcorder, between the components A _Xc , A, A _Zc of the reference vector A, in the coordinate system x _c , y _c , z _c , and the components Α _χ , A? and . of the same reference vector A, in the coordinate system there are the following transformation relations:

A, = A _r 'COsTz.-J. ΑΐηΨ ,.

x _c ^x c ^z c ^c

A ^c = A sin TU - A cozy _r

These relations can be transferred to a matrix equation in which the matrix [Ψ _ο ] of the rotation angle Ψ _ο of the CV video camera is inscribed, with its separate expression:

A, A cos ¹ ^ A. YC = 0 A. ^Z C 8ΐηΨ _σ

0 - 8ΐηΨ _σ 1 1_________________________________________ 1 0 , A = Κ1 · A ... YC L c j yv 0 ϋΟ8Ψ _σ Λ. A ... ^Z V

(4)

5. The tilt angle O _c of the optical axis of the CV camcorder represents, as shown in fig. 9, the angle at which the coordinate system, x _c , y _c , z _c , of the CV camcorder is rotated directly, in its vertical plane, around its horizontal axis x _c , with the fixed mounting value set for the targeting goals selected for that application. By this rotation, the coordinate system x _c , y _c , z _c is brought to the final position occupied by the CV camcorder relative to the laboratory vehicle VL, a position marked by the coordinate system x _c , y _c , z _c .

As shown by the vector diagram in FIG. 9, defining the tilt angle 0 _C of the optical axis of the CV camcorder, between the components, A? , A_ · of the reference vector A, in the coordinate system ^, y _c , z _c and the components A ... A .. and A .. of the same vector in the coordinate system yz there exists a yc ^z c ^{cc the} following relations of transformation:

A .. = Â.

In ^Xc . = A * ^c · cos © _c + A, · sin © _c

A ^ =, · sin © _c + · cos © _c ^z c yc ^cz c ^c

These relations can be transferred to a matrix equation in which the matrix [0 _C ] of the inclination angle of the CV video camera is inscribed, with its separate expression:

A .. x _c '1 0 0 A. YC = 0 cos © _c sin © _c A .. ^z c 0 - sin © _c cos © _c

(5)

RO 126294 Β1

C. Defining the deviation angles ψ _ρ and θ _ρ , of the direction of the target T targeted, relative to 1 the direction of the central axis of the CV camcorder.

Due to the fact that the targeting of a target T in the field is achieved by the 3 CV video camera, from different viewing angles, the direction of the optical, central axis, of the CV video camera does not generally coincide with the direction in which the targeted T target is located, in relation to the objective 5 of the respective CV video camera. For this reason, the direction of the target T is defined, as shown in fig. 10, the angle of deviation _ψ ρ and _θ ρ, to be rotated with the central optical axis z _c 7 in relation to the horizontal, respectively vertical, coordina system Natex, z _c of the video camera CV. in the same scheme of FIG. 10, the method in which the positioning, in the plane of the CCD sensor, of the CV camcorder, of the target T target image, and the way in which this position of the target T is defined, according to its coordinates, in dimensions is presented linear or in pixels, within the rectangular coordinate system of the CCD sensor.

To establish the computational relationships of the linear coordinates of this image of the target T, in fig. 10 the following notations were introduced:

a, b - the linear dimension of the side a and, respectively, of the CCD sensor;

N _a , N _b , - the number of pixels on the side a and b respectively of the CCD sensor;

n _x , n _y - the coordinates, expressed in number of pixels, related to the pixel that marks the target T on the surface of the CCD sensor;

d _x , d _y - the linear coordinates of the pixel that marks the target T on the surface of the CCD sensor.

The determination of the coordinates in pixels, of the image of the targeted T target, is based on the use of a detection procedure, which involves the operator performing a click, with the mouse of the calculation system, on the respective image, in the sequences in which it appears. on the monitor screen. With the notations introduced above, the transformation relations of the coordinates, expressed in pixels, corresponding to the pixel corresponding to the target T, in the linear coordinates of the same pixel that position the target T on the surface of the CCD sensor, are the following:

(6) depending on the linear coordinate d _x of the image of the target T, as well as the focal distance to the lens of the CV video camera, it can be determined, as shown in fig. 11a, the expression of the deviation angle ψ _ρ , horizontally, of the direction of the target T:

d _x ψ _ρ = arctan— (7) in the same way, depending on the linear coordinate d _y of the image of the target T, as well as the same focal distance to the lens of the CV video camera, can be determined, as shown in fig. 11b, the expression of the deviation angle θ _ρ , vertically, of the direction of the target T:

<9 = arctan

(8)

D. Integration into the calculation system of the deviation angles ψ _ρ and θ _ρ , of the direction of the targetT.

RO 126294 Β1 in defining the deviation angles ψ _ρ and θ _ρ , it is taken into account that, if these angles have a null value, the coordinate system x _p , y _p , z _p , of the target T targeted, coincides with the system of coordinates x _c , y _c , z _c , of the CV camcorder

6. The deviation angle ψ _ρ , on the side, of the direction of the target T targeted is obtained, as shown in fig. 12, by rotating, in a direct sense, the coordinate system x _c , y _c , z _c of the CV camcorder, horizontally, around its vertical axis y _c = y _p , with the value necessary to bring the central axis of target x _c in the vertical plane of the target T targeted, position marked by the coordinate system ^x 'P, yP, ^z ' P ·

As shown by the vector diagram in FIG. 12, by which the deflection angle ψ _ρ is defined, on the side, of the direction of the target T targeted, between the components A _r , A _v , A. of the reference vector A, in the coordinate system x _p , y _p , z _p and components A. , A. , A. , of the same vector, in the coordinate system x ", y _n , z", there are ^x P yP ^Z P ppp the following transformation relations:

^A _x = A / COS ^ - Λ -sin ^

A ^x y ^p = Ay ^P

These relations can be transferred to a matrix equation in which the matrix [ψ _ρ ] of the lateral deviation angle of the direction of the targeted T target is also inscribed:

A.

^X P.

A, and _P

A.

sin ^

0 - sin ψ _ρ y A „ ^x c 1 0 • A = ^ψ Ρ To " YC 0 cos ^ " A A .. ^z p ^z c

(9)

7. The vertical deflection angle θ _ρ , of the direction of the target T targeted, is obtained, as shown in fig. 13, by rotating in a vertical direction, vertically, the coordinate system x _p , y _p , z _p , around its horizontal axis x _p , with the value necessary to bring the optical axis, central, of the video camera CV, on the direction of the targeted T target, position marked by the coordinate system

As shown by the vector diagram in FIG. 13, by which the deflection angle θ _ρ is defined, representing the vertical deviation of the target T direction, between the components ^A xy ^A y'p ^{, s / A} zp, of the reference vector A, in the coordinate system x _p , y _p , z _p and the components ^d Xp> ^d Pp · ^{ν / d} Zp, of the same vector, in the coordinate system ^x P, y _P , ^z _P > there are the following transformation relations:

A .. = A.

At ^Xp . = A ^Xp -cos ^ + A. -sin ^

A ^yp = - ^. · SinJ * + · cost9 zv P ζ P pyp * p

RO 126294 Β1

These relations can be transferred to a matrix equation in which the matrix [θ _ρ ] of the deviation angle θ _ρ , vertically, of the direction of the target T is targeted:

to _Xt A. * p A - A. - and _T and _P. ^A z _T A .. ^z p.

or cos <9 _p - sin 4

Cart

sin ^

I I___________________________________________________________________________________ = A. I I___________________________________________________________________________________ A. A. ^z p. ^Z P.

(10)

E. Define the absolute positioning angles Ψ _τ , Θ _τ , Φ _τ of the target T.

outside the relative positioning angles and angles of positioning of the targeted T targets, relative coordinates, defined above, in relation to the coordinate system of the CV video camera and respectively to the coordinate system of the VL laboratory vehicle, to ensure the positioning of these T-targets and in the absolute coordinates, necessary for their inclusion in the geographic information systems of the GIS type, the absolute angular coordinates by which the direction of the T-targets in relation to an absolute coordinate system is determined immediately , whose horizontal axis z _v is oriented in the direction of the local magnetic meridian and whose origin is related to the current position of the VL laboratory vehicle. These absolute positioning angles of the T targets are: azimuth angle Ψ _τ , elevation angle Θ _τ and roll angle Φ _τ , angles which are defined as follows:

8. The absolute azimuth angle Ψ _τ of the target T is the current angle between the direction of the local magnetic meridian N and the direction z _v , which is oriented towards the target T in the horizontal plane of the place. This direction is obtained, as shown in FIG. 14, by rotating in a horizontal direction, the absolute coordinate system x _v , y _v , z _v , around its vertical axis y _v , with the azimuth angle Ψ _τ , the new position being marked by the coordinate system ^ . , and _y . , z _y ..

As shown by the vector diagram in FIG. 14, defining the absolute azimuth angle Ψ _τ , of the target T, between the components A _y , A and A _z ^, of the reference vector 29 A in the coordinate system x _v , y _v , z _v and the horns. A _r , A _v ^x v '

of the same vector, in the coordinate system X _y ·, y _y ·, z _y ,, there are the following relations of 31 transformations:

A _x , = A _Xv cosV _r - A ^ · δΐηΨ _Γ ⁼ ^ y _r

A _z ^r = A _x -sinT _r + A · οοδΨ _Γ

Z ^ i Xy 1 Zy 1

These relations can be transferred to a matrix equation in which the matrix [Ψ _τ ] of the absolute azimuth angle Ψ _τ of the target T is also written:

I >> cosT _r 0 - δΐηΨ _Γ 1 1___________________________________ 1 1___________________________________ = 0 1 0 • 4, II 4, (11) 4 V δΐηΨ ^ 0 οοδΨ _Γ A. A.

RO 126294 Β1

9. The absolute elevation angle Θ _τ , of the targeted T target, represents, as shown in the vector diagram in fig. 15, the angle at which it is rotated, around its horizontal axis x _v , the coordinate system x _v , y _v , z _v ., With the value by which the superposition of the axis z _v is realized, in the direction of the target T, from the location corresponding to point L, in which the CV video camera is located, the new position being marked by the coordinate system x _v ., y _v „, z _v ..

As shown by the vector diagram in FIG. 15, defining the absolute elevation angle Θ _τ , of the target T targeted, between the components A, A? ^ z _v ,> ^of the reference vector A, in the coordinate system x _v , y _v , z _v and the components

of the same vector, in the coordinate system x _v ., y _v .., z _v .., there are the following transformation relations:

ti ·· = ti ^A y _V = ^A yv ' ^COS0 τ + ^A ^' ^sm0 τ

A. = - ti · sin0 _T + A. cos0 _T z _V yy 1 z _v > 1

These relations can be transferred to a matrix equation, in which is also written the matrix [Θ _τ ] of the absolute elevation angle, _τ , of the target T targeted:

1 1 0 0 1 1_________________________________ 1 1_________________________________ A- = 0 COS0 _T sin0 _T A II 4, 4,.. 0 - sin0 _T COS0 _T y, _ A.

(12)

10. The absolute roll angle Φ _τ of the target T represents, as shown in the vector diagram in fig. 16, the angle to be rotated about its target axis z _v ., The coordinate system x _v ", y _v ", z _v .., of the target T, with the value necessary to superimpose this absolute coordinate system over the coordinate system x _T , y _T , z _T , of the target T, determined in the previous phases, in relation to the coordinate system x _c , y _c , z _c . following this rotation with the absolute roll angle Φ _τ , finally, the absolute coordinate system x _v .., y _v .., z _v .., of the target T. is obtained.

As shown by the vector diagram in FIG. 16, defining the absolute roll angle Φ _τ , of the target T targeted, between the components A., A _. ,, Λ, of ¹ 'yv ^z v of the reference vector A, in the coordinate system x _v ,, y _v " , z _v .. and components

of the same vector, in the coordinate system x _v „, y _v ,„, z _v ..., there are the following transformation relations:

A _v = A _r · cosO _T + A _v · δίηΦ,

X-y Xy 1 yy 1

A = -A _r · sinΦ, + J,. · CosO _T y _v <«x _v « i yy i

A. = A

Zy ”Zy

These relations can be transferred to a matrix equation in which the matrix [Φ _τ ] of the absolute roll angle Φ _τ of the target T is also inscribed:

RO 126294 Β1 (13)

Αχ _τ 1 1________________________________ cosO _T sinO _T a' ^A and _T - A ... - - sin Φ _T cosO _T 0 A A 0 0 1 ^Z T _ L ^z v ··· J

1 £ 1________________________________________________________________ = [Φγ] 1 1________________________________________________________________ A A - ^{1 Z} V ^Z V

F. The integration, in the calculation system, of the absolute position angles Ψ _τ , Θ _τ , Φ _τ of the targeted T targets.

The process according to the invention includes the determination of the absolute position angles Ψ _τ , Θ _τ , Φ _τ , of the T targets located at great distances from the VL laboratory vehicle. directly, of the coordinate systems related to the laboratory vehicle VL, by which successive rotation, the superposition is obtained in the direction of the target T targeted. Establishing the computational relationships with which to determine the absolute position angles Ψ _τ , Θ _τ , Φ _τ , of the targeted T target, involves the following steps:

a. Correlation of matrix relations 1,2,3, 4, 5, 6 and 7, following which the following matrix equations are obtained successively ^

A.

A.

and _P.

A.

^Z P 'X _T ky _T

A ...

x _v 'Jkl Fcj ke] · A yv

A.

^z v

A.

^z v

A.

x _c

Λ] K] [®c] A _y .

A.

^Z C _

A.

x _v yv

A ..

^z v (A) where the notations used have the following meanings:

- θ _ρ , ψ _ρ - the deviation angles of the direction of the target T, with respect to the direction of the central axis of the CV camcorder, angles which are calculated, using the relations 6, 7 and 8, based on the plane coordinates of the pixel corresponding to the target T in CCD sensor plane. In turn, these coordinates of the pixels corresponding to the target T are established, either by using the operating method based on typing, with the mouse of the computing system, the image of the target T, on its monitor screen, or by using a monitor screen, sensitive to touch;

- 0 _C , Ψ _ο - the positioning angles of the CV camcorder on the PI mounting platform. of it, on the hood of the VL laboratory vehicle; the values of these angles (when the variant with continuous adjustment is not used) are usually established at the assembly;

- Φ, Θ, Ψ - the position angles of the laboratory vehicle V.L., determined by the inertial measuring unit IMU;

RO 126294 Β1

- A, A, A represent the unit vectors of the respective coordinate axes.

b. On the other hand, by correlating matrix relations 8, 9 and 10, the following matrix equations are obtained successively:

the following matrix relation, for the calculation of the absolute position angles Ψ _τ , 0 _T , Φ _τ , of the target T target, relative to the point at which the lens of the CV video camera is arranged:

4ΗΚ] Κ] · Μ · [θι · Μ · a

Ajz

Xv ^A z _v _ = [Φγ] [®r] [fj

Α _χ

Λ- ^ r in fi.

or:

[θρ] · [ψρ] · [Θ ₀ ] · [Ψ ₀ ] · [Φ] · [Ψ] = [Φ _τ ] · [Θ _τ ] · [Ψ _τ ]

The notation is adopted:

A> lk (C) (11)

J [®c] [° C] ·

^a n "12 ^at i3 [Φ] · [Θ] · [Ψ] = ^to 2nd ^to 22 ^at 23 CD ________________________ ^to 32 ^at 33_

and the corresponding coefficients a ^, ..., ₃₃ , are calculated, based on the directly measured values of the angles on the left side of this matrix equation.

Next, the product of matrices corresponding to the absolute angular coordinates of the target T is performed:

[φ _γ ] · [θ _γ ] · [ψ _γ ] =

COS® _T sin® _T 0 - sin® _T cos® _T 0 0 0 1

1 0 0 0 COS® _T sin® _T 0 - sin® _T cos® _T

cos + j. 0 - sin + j.

1 0 sin + j. 0 cosTj.

where the notations were used:

b ^ = cosU _T · οοεΦ _τ + sinU _T · sinO _T · είηΦ _τ ; b ₁₂ = cosO _T · είηΦ _τ ;

b ₁₃ = -είηΨ _τ · οοεΦγ + cost _T · sinO _T · είηΦ _τ ; b ₂₁ = -cosU _T · είηΦγ + sinU _T · sinO _T · οοεΦ _τ ; b ₂₂ = cosO _T · οοεΦ _τ ;

b ₂₃ = sinU _T · είηΦ _τ + cosU _T · sinO _T · οοεΦ _τ ; b ₃₁ = sinU _T · cosO _T ;

b ₃₂ = -sinO _T ;

b ₃₃ = οοεΨ _τ · cosO _T.

RO 126294 Β1

From the equivalence of the terms corresponding to the two identical global matrices:

"11 "12 1 ^b n ^b n ^ 13 "21 "22 "2. 3 = ^ 21 ^b 22 ^b 23 _ "31 "32 "33. _______________________1 ^b 32 ^b 33 _

finally, the calculation relations of the absolute angular coordinates of the target T, obtained from the place where the laboratory vehicle VL was at that moment, are obtained, in the form: 9 tanT ₇ = —sin0 _r = - <a ₃₂ ; tanO _z = —— (12) 11 ^Cl 33

II. The group of computational relations with which the determination of the position of the target T is carried out in the horizontal plane of the reference ellipsoid.

In the second component of the calculation algorithm, the determination of the T-target position in the horizontal plane of the reference ellipsoid is performed, by combining the determinations of absolute angular coordinates Ψ _Γ Θ _Γ Φ _r and, respectively, Ψ, respectiv , Φ, 17 of the target T, determinations and calculations carried out according to the methodology related to the first component of the calculation algorithm, for two different positions C ₄ and, respectively, C ₂ , of the 19 video camera CV, positions resulting from the movement of the laboratory vehicle VL with a distance within which the target T is kept in the field of view of the CV camcorder. 21

In order to establish, on this basis, the calculation relationships of the absolute position coordinates of the target T, the positioning scheme presented in fig. 17, in which 23 the following notations were inserted:

λ _υ φ _υ and λ ₂ , φ ₂ - the geographical coordinates, longitude and latitude, respectively, 25 provided by the GPS receiver, for two positions C ₄ and respectively C ₂ , successive, targeting, of the video camera CV; 27 λ _τ , φ _τ - the longitude and latitude geographical coordinates of the target T, respectively;

a _A , a ₂ and b ₂ - the linear distances corresponding to the angular differences of 29 longitudes Δλ _{ή τ} , Δλ _{ή 2} and, respectively, of latitude Δφ _{ή 2} , _{Δφ 2Τ} , of the target T, as follows:

Δλ _Α γ - Ăț - λ _Α , Δλ _{ή 2} - λ ₄ - λ ₂ , Δφ _{ή 2} - φ ₂ - φ _Α , _{Δφ 2Τ} - φ _τ - φ _τ , (13) 31

When calculating the linear distances of _A , ₂ and in the direction of longitude and latitude, respectively, between the successive positions of the CV camcorder and, respectively, between them and the target 33 T, it is taken into account, however, that using a stereophotogrammetry system that allows to target some objects that are located at distances of up to 200 ... 300 m from 35 VL laboratory vehicle, we can adopt the hypothesis of approximation of the terrestrial globe, with a sphere equivalent to the radius R = 6367,472 km . 37

Thus, based on the scheme of fig. 18, showing the position of a T-target, on an equivalent sphere of the terrestrial globe, the aforementioned linear distances can be calculated 39 based on the differences of angular coordinates using a set of equations of form: 41 a \ meters \ =

A2 [min] _r ,

----------- · Ίπ · r \ meters \, for distances in the direction of longitude λ;

360x60

RO 126294 Β1 • 2π · R [meters], for distances in the direction of latitude φ;

where:

360x60 r = R · coscp (14).

It should also be noted that in order to achieve a high-precision positioning, in geographical coordinates, of the targeted targets, it is also necessary to take into account the fact that, as shown in fig. 2, the axis z _c of the coordinate system of the CV camcorder is displaced with respect to the axis _V of the laboratory vehicle VL, along its axis x _v , on the mounting platform PI., With the mounting distance m between the GPS antenna and CV video camera

For this reason, the geographical coordinates, 2 ^, φ _χ and λ _1ν , φ _1ν which are provided directly by the GPS system for GPS antenna locations, differ from the geographical coordinates, λ _υ φ ₁ and λ ₂ , φ ₂ corresponding to two successive positions of the CV camcorder, so that the latter, in situations where the requirements for maximum accuracy impose it, must be corrected with the values:

[min] =

60 x 60 x meters] x cos Ψ (15)

Δ φ, [min] =

360x60xm [me / rz] x sin Ψ and respectively:

min =

360x60xm [z77ein] xcosT ₂

Δ φ ₂ [min] =

2 ^? Xcosț3 ₂

360 x 60 xn \ meters \ x sin Ψ ₂ (16)

2xR

Taking into account these calculation hypotheses, from the scheme presented in fig. 17, in which the two positions C., and C ₂ are highlighted, from which the target T is targeted, the following expressions result for the corresponding azimuth angles Ψ _Γ , and Ψ _r , respectively;

ίαηΨ _Γ tanT _r

Δ ₂ Δ T

From these two expressions we obtain the following implicit relation for calculating the angular difference of longitude Δ φ _{2 T} :

Δ φ _{λ 2} · ΐηηΨ _Γι + ΔΛ ₁₂ · thigh / τ + Δ φ _2τ tanȚ ^ - ΐηηΨη and beyond:

Φτ ~ @ 2 + Δ φ ₂ , τ (17)

RO 126294 Β1

With the value thus determined of the angular difference Δ φ _{2 T} , one can now calculate the value of the angular difference of latitude Δ 2q _T with one of the following two explicit calculation relationships: tan Ψ _{7 |} / \ · (Δ φ _{γ 2} + Δ φ _{2 T} j cos ^ ₂ + Δ φ _2Τ ) or and further on:

/ \ 'Δ ^ 2 T Δ 2 cos ^ ₂ + A ^ _2r ) λ _τ - λ ₁ + Δλ _{1 τ} (18)

From the above equations it is noted that the coordinate differences, Δλ _{ή T} and Δφ _{2 T} , of the target T cannot be determined when the relation between azimuth angles exists: Ψ _Γ = Ψ _Γ . This situation occurs when a single CV video camera is used oriented on the direction of travel of the VL vehicle, and the T target is maintained in the vertical plane of the CV video camera throughout the movement of the VL laboratory vehicle.

However, after obtaining in the presented mode the angular coordinates, λ _τ and φ _τ , of the target, the linear distances marked in fig. 17, namely: a _d , a ₂ and b ,, b ₂ , in the direction of longitude, and respectively of latitude, between the successive positions of the CV camcorder and between them and the target T, targeted, with the relations:

3 ^ · ^27Γ · ^Λ · ^{€ Ο} ^ ^;

Δ / lj ₂ '· Ίπ · R- coscp-,

360x60 (19)

Δ

360x60

Δ r / x,

₂ = · 2π · 7?

360x60

On this basis, one can calculate the direct distances between the target of interest T targeted and the positions C, and C ₂ , of the CV camcorder, using the relations:

QT =

and c ₂ r =

(20)

Also, according to the scheme shown in fig. 19, the height h of the target T can also be calculated, in relation to the horizontal plane P.O. of the reference ellipsoid, with one of the relations:

h _T = h _c 4 C _X T · tanΘΘ _T or h _T = h _c + C ₂ T · tanΘΘ _T (21)

RO 126294 Β1 in which the relations were introduced:

ΘΘ _Τι = Θ _Τι - Θ !; ΔΘ _η = Θ _η - Θ ₂ , where the tangent angles Θ ·! and θ ₂ , of the VL laboratory vehicle are directly determined by the inertial navigation unit INS.

In conclusion, it is appreciated that the main advantage of the system and method according to the invention is that by increasing the basic distance between the locations of taking two successive images of the same target, the distances measurable to the respective target are increased by a few times, if the usual values of the measurement distances applicable in the case of stereometry systems based on the use of CV video camera pairs are taken into account, in the case of the monocameral system according to the invention, the measurable distances 11 to the target are limited mainly by the resolution of the optical objective of The CV camcorder also contributes to the fact that in this case, on the control monitor screen, 13 will be formed, instead of two adjacent images, a single image that will thus present a higher resolution.

Increasing the measurement distance of the single-chamber stereometry system to values of 200 to 300 m, makes this system competitive for 17 topometry optical equipment, of total station type (total station), especially if it is considered and the mobility of the embedded stereometry system.

Claims (6)

1. Mobile system for mapping some objectives located at great distances from the access roads 3 roads, comprising: - a video camera (CV), digital, mounted, under angles of deflection and elevation with 5 fixed, predetermined values, on a platform (PI.) disposed on the hood of a laboratory vehicle (VL), constantly moving on a track access road, video camera (CV), mounted 7 at the platform (PI.), so that the optical lens of the video camera (CV) is oriented towards a side of the laboratory vehicle (VL), to allow the acquisition, in automatically, 9 successive images, from the field, in the area of an objective of interest, materialized in a target (T) target, located far away from the road access road; - an inertial navigation unit (INS), installed in the laboratory vehicle (VL), for the acquisition of data, from the field, data representing the values of the absolute angles of 13 orientation in space, of the video camera (CV) and of the laboratory vehicle (VL) ) - a dual frequency receiver (GPS), installed in the laboratory vehicle (VL), 15 for the video camera (CV) trigger control, the dual frequency receiver (GPS) being connected, by a tight coupling, with the inertial navigation unit (INS), through a 17 interface element for SPÂN technology; - an antenna (GPS antenna) attached to the receiver (GPS) with dual frequency, mentioned, 19 mounted on the platform (PI.) disposed on the hood of the laboratory vehicle (VL), on its longitudinal axis; 21 system characterized in that, more It includes: - image marking means for marking the images acquired by the 23 video camera (C.V.), with the geographical coordinates of the point where the laboratory vehicle (V.L.) is located, 25 - a computing unit (Comp.) with memory, for storing images and data, provided by the video camera (CV) and by a positioning equipment 27 (GPS + INS), which includes the receiver (GPS) and the inertial navigation unit (INS); - image post-processing means, for performing post-processing of the 29 images acquired and stored, for determining the coordinates of the pixels related to the target image (T), displayed on the computer unit screen (Comp.); 31 - calculation means for calculating the geographical and elevation coordinates of the target (T), using the triangulation technique and reporting to the spherical system of the 33 terrestrial coordinates. System according to claim 1, characterized in that it further comprises: 35 - means of connection computer-receiver unit, for connecting the computing unit (Comp.) to the receiver (GPS) with double frequency and means of connecting the receiver-network, 37 for connecting the receiver (GPS) with double frequency, to a national network permanent GNSS reference stations, for the provision of differential correction data, intended for real-time kinematic positioning, RTK, of the mobile mapping system; - means for connecting a unit of calculation-cell phone, for connecting the unit of calculation 41 (Comp.) to a cell phone operating in the GSM / GPRS / CDMA system, and respectively, means for connecting a unit of computing-network, for connecting to a network of type 43 Internet, to ensure the communication link with a reference base station. 3. Procedure for mapping some objectives located at great distances from the access roads 45, consisting of a succession of determinations based on performing, in the field, measurements and automatic acquisitions of images and data, characterized by having 47 make up the following steps: RO 126294 Β1 - the acquisition, automatically, of successive images, from the field, in the area of an objective of interest materialized in a target (T), with the help of a digital video camera (CV), mounted on a laboratory vehicle (VL), continuously moving on a road access road, in relation to which the target (T) in question is at a great distance; - the acquisition of data, from the field, with the help of an inertial navigation unit (INS), installed in the laboratory vehicle (VL), data representing the values of the absolute angles of orientation in space of the video camera (CV) and of the laboratory vehicle (VL) , during the triggering of the video camera (CV), controlled by a high-performance receiver (GPS), installed in the laboratory vehicle (VL), coupled to the inertial navigation unit (INS); - marking the images acquired with the help of the video camera (C.V.), with the geographical coordinates of the point where the laboratory vehicle (V.L.) is located, when the respective images are taken by the video camera (C.V.), coordinates provided by the GPS system; - storing, in the memory of a computing unit (Comp.), the images marked with geographical coordinates, together with the data provided by the inertial navigation unit (INS), data acquired at the time of the digital camera (CV), by the GPS system; - postprocessing of the acquired and stored images, by electronically selecting two images, successive or not, in which the target (T) targeted is properly highlighted on a screen related to the computing unit (Comp.), and by determining the coordinates of the corresponding pixels. target image (T), displayed on the respective screen of the computing unit (Comp.); - calculating the geographical and elevation coordinates of the target (T), using the coordinates of the target and the stored data, related to the selected images, using the triangulation technique and reporting to the spherical system of the terrestrial coordinates. 4. Process according to claim 3, characterized in that it comprises the implementation of a two-phase calculation algorithm: i. a first phase of measuring and determining parameters, representing the values of the absolute position angles (Ψ _τ , Θ _τ , Φ _τ ) of the target (T) concerned, in relation to the point where the video camera (CV) is located, at the time the image was purchased; ii. a second phase of measuring and determining parameters, representing the geographical coordinates of the target (T) concerned, in latitude and longitude, in the horizontal plane of the reference terrestrial ellipsoid, by applying the triangulation technique on the values of position angles and respectively azimuth (Ψ _Γ and Ψ, respectively) of the target (T), angles determined with respect to the north (N) direction of the local magnetic meridian and which correspond to two different positions (Pos. 1 and Pos. 2 respectively). ) of the laboratory vehicle (VL), the second phase comprising the combination of absolute angular coordinates (Ψ _Γ Θ _Γ Φ _r , and respectively, respectiv, Φ ^), of the target (T) concerned, determinations and calculations performed for two positions (C and, respectively, C ₂₎ of different video camera (CV), positions resulting from the movement of the vehicle laboratory (VL) by a distance that represents the measuring unit (BM), within the C repeats the target (T) is maintained in the subject field of view of the video camera (VC). 5. Process according to Claim 4, characterized in that the first phase i., For carrying out measurements and determining parameters, comprises the following sub-stages of determinations and calculations: RO 126294 Β1 a. acquisition of absolute azimuth (Ψ), pitch (6) and roll (Φ) 1 angles of the laboratory vehicle (VL), values determined in the horizontal plane of the reference ground ellipsoid and provided continuously by the unit inertial navigation (INS), 3 installed in the laboratory vehicle (VL); b. establishing, for each type of application, an appropriate mapping system, 5 depending on the type of targets (T) targeted in the field, which are intended to be positioned, of an appropriate set of mounting values, fixed and rigorous determined, of the positioning angles in 7 turns (Ψ _ο ) and, respectively, in inclination (O _c ), of the optical axis of the video camera (CV), in relation to the own coordinate system (x _v , y _v , z _v ) of the laboratory vehicle (VL); 9 c. establishing, in post-processing regime, data obtained during the acquisition phase, in the field, of the deviation angles (ψ _ρ and, respectively, θ _ρ ), on the lateral and respectively vertical, of the 11 direction (z _T ) of the target (T) concerned, in relation to the direction of the central optical axis (z _c ) of the video camera (CV), using a calculation algorithm that allows to determine the values of the angles of 13 deviation (ψ _ρ and θ _ρ ), based on the rectangular coordinates, expressed in number of pixels (n _x and n _y ), related to the pixel (Τ ') marking the target (T), on the surface 15 of the linear photoelectric sensor (CCD) of the video camera (CV); d. integrating the deviation angles (ψ _ρ and θ _ρ ) of the direction of the objective of interest (T) 17 into the general coordinate system, taking into account that the deviation angle (ψ _ρ ), on the side, of the direction (z _T ) the target (T) is obtained by rotating the 19-coordinate system {x _c , y _c , z _c ) of the camcorder (CV) horizontally, with the required value Π to bring the central optical axis of focus (χ) into the vertical plane of the target (T), and 21 the angle of deviation (θ _ρ ), vertically, of the direction (z _T ) of the target (T) is obtained by rotating then, directly, vertically, of the new coordinate system (xyz), 23 result, around its horizontal axis (X _p ), with the required value, to bring the central optical axis of focus (χ ₍ ,) of the video camera (CV) in the direction (z _T ) of the target (T) concerned; 25 e. defining the absolute position angles (Ψ _τ , Θ _τ and Φ _τ ) of the target (T) concerned, respectively, the azimuth angle (Ψ _τ ), the elevation angle (Θ _τ ) and the roll angle (Φ _τ ), 27 by which the direction of the target (T) is determined, relative to an absolute coordinate system, whose horizontal axis (z _v ) is oriented in the direction (N) of the local magnetic meridian and 29 whose origin is given of the current position of the laboratory vehicle (VL), ensuring the possibility of entering the objective of interest (T) within the geographical information systems 31 GIS; f. integrating, at the level of the computing unit (Comp.), the absolute position angles 33 (Ψτ. Θ _τ and Φ _τ ), of the objective of interest (T), achieved by calculating the value of the respective absolute position angles (Ψ _τ , Θ _τ and Φ _τ ), based on the 35 rotational angular values, given by the directly measurable rotation angle (Ψ _ο ), of the coordinate systems of the laboratory vehicle (VL) and of the chamber, respectively video (CV), 37 coordinate systems, through which successive rotations, the superposition is obtained in the direction of the target (T), the actual determination being achieved by equating the product ([Φ _Τ ] · [Ο _Τ ] · [Ψ _Τ ]) 39 matrices defining the absolute angles (Ψ _τ , Θ _τ and Φ _τ ) of the target (T) targeted, on the one hand, with the product, in direct succession, ([θ _ρ Ηψ _ρ ] · [Θ ₀ ΗΨ ₀ ] · [Φ] · [Ψ]) of the matrices defining 41 RO 126294 Β1 position angles (Ψ, Θ and Φ) of the laboratory vehicle (VL), mounting angles (Ψ _ο and O _c ) of the video camera (CV) and deviation angles (ψ _ρ and θ _ρ ) of the direction of the target (T) concerned, in relation to the optical axis of the video camera (CV) and, finally, by matching the corresponding elements in the two matrices resulting from the respective products. 6. Process according to claim 4, characterized in that the second phase, of measuring and determining parameters, comprises the following sub-stages of determinations and calculations: g. determining, by applying the triangulation technique, the geographical coordinates of longitude (λ _τ ) and latitude (φ _τ ) of the target (T), based on the values (λ ^ and (λ ₂ , φ ₂ ) of the geographical coordinates, of longitude and latitude, provided by the group consisting of a receiver (GPS) and an inertial navigation unit (INS), for two successive viewing positions (C ₁ and C ₂ respectively) of the video camera (CV) , as well as based on the azimuth (Ψ _Γι and Ψ _Γ ) angles of the target (T) targeted, values determined according to sub-step f., of the process, for the same two successive target positions (C, and C ₂ , respectively). ; h. determining, by applying the triangulation technique, in the direction of longitude, the linear distance (a ^ between the target position (C ^ and the target (T)), and the linear distance (a ₂ ) between the target positions (C, and C ₂ ), and in the direction of latitude, the linear distance (b,) between the target positions (C ^ and C ₂ ), as well as the linear distance (b ₂ ) between the target position (C ₂ ) and the target (T) targeted , based on the values of the geographical coordinates of longitude (λ _τ ) and latitude (<p _T ) of the target (T) concerned, determined according to sub-step f., of the process, as well as of the value (R) adopted for the radius of the equivalent sphere of the globe land; j. determining, by applying the triangulation technique, the direct distances (C ^ and C ₂ T), between the target (T) and the target positions (C, and C ₂ , respectively), based on the linear distances (a ^ a ₂ and, respectively, b ₂ ), in the direction of longitude and latitude, respectively, between the target positions and, respectively, between the target positions and the target (T) concerned; k. determining, by applying the triangulation technique, the height (h) of the objective of interest (T) with respect to the horizontal plane (PO) of the reference terrestrial ellipsoid, based on the values of the distances (CJ and C ₂ T), between the objective of interest (T ) and the target positions (C., and C ₂ , respectively) and the values of the elevation angles (Θ _r and Ψ) of the objective of interest (T), values determined according to sub-step f. of the procedure, as well as based on the values the pitch angles (Θ., and θ ₂ ) of the laboratory vehicle (VL), directly determined, for the same two target positions (C-! and C ₂ , respectively), successively, by the inertial navigation unit ( INS), installed in the laboratory vehicle (VL).