**4. Originality of the proposed Mobile Slide Monitor (MSM)**

The static regime systems, previously described, achieve the stability monitoring of the constructions by using precision optical systems or GPS equipment with differential regime functioning, but to which the follower receiver is attached in a fixed montage on the surveyed construction. As opposed to these systems the monitoring system presented here has the advantage that it permits measurements to be rapidly performed, at preset time interval, with a reduced cost on a multitude of objectives and with a minimum delay between the moment of some defection occurence and the moment of its identification and alarming.

Taking account of the above-mentioned characteristics of the bi-cameral stereo-metric systems, the INOE 2000 Institute from Bucharest elaborated the Invention Patent RO 126294 A2/2009 whose main objective was to increase up to U200 – 300 metersU, the distance up to which the sighted targets from the terrain can be positioned.

Conceptually this Mobile Slide Monitor - MSM involves:

 The acquisition of **successive images** achieved from a **moving vehicle** by means of a single **CMOS video camera** mounted above this vehicle (Fig.6);

GPS Positioning of Some Objectives Which are Situated

at Great Distances from the Roads by Means of a "Mobile Slide Monitor – MSM" 163

INS

Comp.

Video Camera

GPS

GPS Ant. Platform

**Figure 9.** The equipment assembly during a normal functioning on a tested route

Lab Vehicle

Circulation Sign

objective and a reduced angle of view;

height, respectively:

the Video Camera;

of the Lab Vehicle,

More precisely, the mobile positioning system achieved in conformity with the invention patent proposes itself to obviate the limits which affect the functioning of the above-


On the basis of the notations entered in the figure 10, it is possible to compute the geographic position coordinates of the sighted target: *λT*, *φT*, *hT* - longitude, latitude and




positions of the Lab Vehicle by means of its GPS receiver;

mentioned equipments by introducing the following series of combined measures:

**Figure 6.** Moving vehicle and the CMOS video Camera

 **The determination** with a sub-metric accuracy of the **vehicle position,** by means of a GPS device at the time of taking the picture (Fig. 7);

**Figure 7.** Multi-Frequency GPS receiver

 The use of an **innovative mathematical** algorithm based on a triangulation method for the **geographic position** computing of every object which appears in two different images.

**Figure 8.** Geographic positioning of the sighted object.

#### **4.1. The functioning and the use of the Mobile Slide Monitor**

The general assembly of the proposed Mobile Slide Monitor is presented in Figure 9.

**Figure 9.** The equipment assembly during a normal functioning on a tested route

The acquisition of **successive images** achieved from a **moving vehicle** by means of a

**The determination** with a sub-metric accuracy of the **vehicle position,** by means of a

 The use of an **innovative mathematical** algorithm based on a triangulation method for the **geographic position** computing of every object which appears in two different

single **CMOS video camera** mounted above this vehicle (Fig.6);

**Figure 6.** Moving vehicle and the CMOS video Camera

**Figure 7.** Multi-Frequency GPS receiver

**Figure 8.** Geographic positioning of the sighted object.

**4.1. The functioning and the use of the Mobile Slide Monitor** 

The general assembly of the proposed Mobile Slide Monitor is presented in Figure 9.

images.

GPS device at the time of taking the picture (Fig. 7);

More precisely, the mobile positioning system achieved in conformity with the invention patent proposes itself to obviate the limits which affect the functioning of the abovementioned equipments by introducing the following series of combined measures:


On the basis of the notations entered in the figure 10, it is possible to compute the geographic position coordinates of the sighted target: *λT*, *φT*, *hT* - longitude, latitude and height, respectively:


GPS Positioning of Some Objectives Which are Situated

at Great Distances from the Roads by Means of a "Mobile Slide Monitor – MSM" 165

Afterwards, in a post processing regime, the pixel coordinates of the point, representing the target in each of the two images are determined, and, thus, it is possible to establish in each

**Figure 12.** The definition of the deviation angles *ψp* and *θ<sup>p</sup>* of the target direction relative to the central


So, as it is presented in figure 12, in the post processing regime, the pixel coordinates of the point representing the target in each of the two images are determined, and, on this basis, it is possible to establish in each case the target angular position relative to the video camera


axis of the viewing field of the video camera

terrestrial coordinates.

axis.

case the target angular position, relative to the video camera axis (Fig. 12).

**Figure 10.** Fig.10 The Sighting of the same target from two different positions between which the Measuring Base - MB is forming.

The geographic positioning of a far away target (200 – 300 meters) involves in a first phase the use of the video camera which is triggered by the PPS (Pulse Per Second) signal furnished by the GPS receiver for taking photo images of the respective target from two different positions of the lab vehicle (about 20 – 30 meters) (Fig.11).

**Figure 11.** The sighting of a far away objective from two positions of the mobile monitoring system.

Afterwards, in a post processing regime, the pixel coordinates of the point, representing the target in each of the two images are determined, and, thus, it is possible to establish in each case the target angular position, relative to the video camera axis (Fig. 12).

164 Cartography – A Tool for Spatial Analysis

Measuring Base - MB is forming.

**Figure 10.** Fig.10 The Sighting of the same target from two different positions between which the

different positions of the lab vehicle (about 20 – 30 meters) (Fig.11).

The geographic positioning of a far away target (200 – 300 meters) involves in a first phase the use of the video camera which is triggered by the PPS (Pulse Per Second) signal furnished by the GPS receiver for taking photo images of the respective target from two

**Figure 11.** The sighting of a far away objective from two positions of the mobile monitoring system.

**Figure 12.** The definition of the deviation angles *ψp* and *θ<sup>p</sup>* of the target direction relative to the central axis of the viewing field of the video camera


So, as it is presented in figure 12, in the post processing regime, the pixel coordinates of the point representing the target in each of the two images are determined, and, on this basis, it is possible to establish in each case the target angular position relative to the video camera axis.


GPS Positioning of Some Objectives Which are Situated

Camera Link Frame Grabber **PIXCI E4**

> GPS – Antenna **NovAtel**

Invertor – 700W **TS-700-212B**

at Great Distances from the Roads by Means of a "Mobile Slide Monitor – MSM" 167

**Figure 13.** The components of the Mobile Slide Monitor

GPS Receiver **ProPak – V3**

Desktop Computer and LCD monitor

Video Camera - DALSA **Pantera TF 6M8**

In general, an INS system uses forces and rotations measured by an IMU (Inertial Measuring Unit) to calculate position, velocity and attitude. Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes. Over short periods of time, inertial navigation gives very accurate acceleration, velocity and attitude output. The INS must have prior knowledge of its initial position, initial velocity, initial attitude, Earth rotation rate and gravity field. Since the IMU

Supplimentary

Auto

Battery

Inertial Navigation System **SPAN–IMU - FSAS**


#### **4.2. Tightly coupled GPS/INS**


The integrated GPS/INS solution produces continuous, smooth position and orientation of the system even when the GPS signals are lost due to obstructions such as bridges, trees, tunnels, mountains, high-rise buildings or limited and sporadic satellite coverage.

Taking into account of the functioning details described here, the figure 13 presents the complete set of devices which compose our Mobile Slide Monitor.
