| CPC G01S 7/4808 (2013.01) [G01S 7/4816 (2013.01); G01S 7/4817 (2013.01); G01S 7/4863 (2013.01); G01S 7/4868 (2013.01); G01S 7/497 (2013.01); G01S 17/08 (2013.01); G01S 17/10 (2013.01); G01S 17/42 (2013.01)] | 15 Claims |
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1. A measuring device for optically surveying an environment, comprising:
a radiation source for generating transmitted radiation;
a transmitting channel for emitting at least a part of the transmitted radiation;
a beam deflection element in the transmitting channel, which is configured to deflect the transmitted radiation and to set a chronologically varying transmission direction of the transmitted radiation out of the transmitting channel;
a receiving channel comprising a receiver, which is configured to acquire a reception signal based on at least a part of the returning transmitted radiation, referred to hereafter as received radiation, wherein the measuring device is configured such that an imaging position of the received radiation on the receiver is stabilized by the beam deflection element being arranged in the transmitting channel and the receiving channel or by a separate beam deflection element being arranged in the receiving channel;
a control electronics unit, which is configured to control the measuring device based on a preprogrammed measurement procedure;
an angle determining unit for acquiring angle data with respect to the transmission direction of the transmitted radiation; and
a computer unit for deriving distance measurement data based on the reception signal; and
an inertia meter configured to acquire inertia data with respect to an intrinsic movement of the measuring device,
wherein sweeping scanning is carried out by means of the transmitted radiation by way of the measurement procedure, based on:
a defined ongoing, continuous actuation of the beam deflection element for the ongoing change of the transmission direction of the transmitted radiation,
an ongoing emission of the transmitted radiation and an ongoing acquisition of the reception signal, and
a derivation of the distance measurement data, wherein:
the receiver for acquiring the reception signal has an optoelectronic sensor embodied as multi-pixel photon counter, MPPC, wherein the MPPC comprises hundreds or thousands of microcells and is configured to add currents of the microcells on the sensor and to subsequently convert the added currents into an analog voltage signal, which asymptotically approaches a maximum limiting voltage with increasing received radiation,
the MPPC is configured such that the microcells are read out in different microcell groups which are conducted to a common output of the MPPC alternately, and active sections, which can be read out individually, of the receiver are thus settable, and
in the scope of the measurement procedure, the actuation of the beam deflection element and the acquisition of the reception signal are synchronized such that:
the acquisition of the reception signal takes place based on an active section of the receiver, which is set by taking into account an angle difference occurring between the outgoing transmitted radiation and the received radiation, for which the measuring device is configured:
to acquire a time curve of the intrinsic movement of the measuring device and to estimate the intrinsic movement of the measuring device in advance based on the time curve,
to estimate the angle difference by taking into consideration on the angle data defining the transmission direction of the transmitted radiation, initially acquired distance measurement data, and the estimated intrinsic movement of the measuring device, and
to estimate a first item of imaging information for a beam shape and/or location of the received radiation imaged on the sensor based on the estimated angle difference, wherein the active section used in the scope of the measurement procedure is selected based on the estimated first item of imaging information.
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