| 摘要 |
PURPOSE:To detect the position and attitude of a moving body with high precision and excellent efficiency by a method wherein the moving body provided with targets at three points serving as references of measurement is followed automatically by a distance-angle measuring apparatus and three-dimensional coordinate positions of the targets are determined, while the roll, yaw and pitch of the moving body are detected from the amounts of changes of coordinates. CONSTITUTION:In measurement of a position, rear reference points 2 of which the coordinates are known are used and the coordinates of an automatic tracking type distance and angle measuring apparatus 4 mounted on a following truck 3 of a shield excavator 1 are determined by measuring the rear reference points 2 by the apparatus 4. Based on the coordinates of the distance and angle measuring apparatus 4, subsequently, targets (reflective prisms) at three points provided for the excavator 1 are tracked automatically and measured and positions of the coordinates before and after movement are computed by a personal computer 6. Besides, amounts of the roll, yaw and pitch showing the attitude (tilt) of the excavator 1 are calculated from the amounts of changes of the coordinates before and after the movement. |
