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instrument de mesureSynonyme(s)instrument de mesurage ;appareil de mesure appareil de mesurageVoir aussi |
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Titre : The Swiss trolley : a modular system for track surveying Type de document : Rapport Auteurs : Ralph Glaus, Auteur Editeur : Zurich : Schweizerischen Geodatischen Kommission / Commission Géodésique Suisse Année de publication : 2006 Collection : Geodätisch-Geophysikalische Arbeiten in der Schweiz, ISSN 0257-1722 num. 70 Importance : 184 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-908440-13-0 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] capteur imageur
[Termes IGN] capteur non-imageur
[Termes IGN] données localisées
[Termes IGN] filtre de Kalman
[Termes IGN] fonction spline
[Termes IGN] fusion de données
[Termes IGN] GPS en mode cinématique
[Termes IGN] GPS en mode différentiel
[Termes IGN] GPS-INS
[Termes IGN] lissage de données
[Termes IGN] navigation à l'estime
[Termes IGN] odomètre
[Termes IGN] positionnement absolu
[Termes IGN] précision millimétrique
[Termes IGN] prise de vue terrestre
[Termes IGN] réseau ferroviaire
[Termes IGN] surveillance d'ouvrage
[Termes IGN] tachéomètre électronique
[Termes IGN] transport ferroviaireIndex. décimale : 30.70 Navigation et positionnement Résumé : (Auteur) Modern railway infrastructure requires accurate, absolute referenced spatial data for project planning, construction and maintenance. On the one hand, passenger safety and travel comfort depend to a large extent on accurate tracks. On the other hand, absolute referenced coordinates of railway assets facilitate data exchange between railway operators and third parties. In addition, time slots for maintenance are short, due to the high volumes of traffic on major railway lines. Thus, flexible surveying systems are required yielding accurate data within a short time. The multi-sensor platform Swiss Trolley, which offers such a flexible system, copes with absolute referenced spatial data. The platform is mounted on a track vehicle. This allows for a complete description of the track environment in kinematic mode with a minimum of interference time with regular traffic.
The Swiss Trolley features a modular design. A basic module for assessing track key parameters such as chainage, cant, twist, gradients and track gauge covers monitoring tasks on construction sites. A positioning module integrating GPS or total stations allows for the determination of the track axis. A further scan module can be used to generate absolute referenced point clouds in the track environment.
This work compiles the development steps of the Swiss Trolley. Relevant side conditions re-garding track surveying, coming from track geometry and the railway operators are summarised and state-of-the-art systems are reviewed. Based on these premises, a niche for Swiss Trolley applications is defined. Sensors providing geometric data in the track environment are evaluated in regard to their suitability and error behaviour.
The key problem of the trolley positioning consists in determining the six degrees of freedom of the multi-sensor platform at any point in time. The chosen kinematic approach asks for a careful treatment of time constraints. Each data string coming from a specific sensor must own an accurate time tag. Kinematic surveys at walking speed with subcentimetric accuracy require time tags with millisecond accuracy.
The incorporated sensors were investigated regarding their error behaviour. Calibration issues are addressed and approaches for the bias determination are presented. Models for correcting collimation errors and nuisance accelearations are given for the pendulum inclination sensors used. Moreover, emphasis was placed on biases emerging at kinematic surveys for the particular optical total station used. Reduction models for the laser scanner data are proposed and calibration procedures providing intrinsic orientation and latency parameters are given.
A kinematic model for Swiss Trolley surveys based on the Frenet base system and its canonical representation was developed. Explicit formulae are given for runs on geometric elements dominating in the railway track environment. For the mutual data processing, a loosely coupled filter concept is proposed consisting of data pre-processing, synchronisation and filtering steps. The core of data processing is a Kalman filter, estimating vehicle and track states in an absolute or a relative reference frame. By means of the filter approach, the observations of the involved sensors can be integrated in a spatial model. Individual filter runs can be assembled by an additional merge step. Merged runs in up and down direction allow for a quality assessment and also allow for the monitoring of eventually remaining biases such as a boresight misalignment or inclination sensor zero point offsets.
Positioning accuracies for the static and kinematic case were assessed on the one hand by the comparison of up and down runs. On the other hand, comparisons were carried out with independently measured reference data. The static error behaviour of the Swiss Trolley could be evaluated by using a slab track alignment. Submillimetric positioning accuracies were obtained in combination with high-precision total stations. Kinematic positioning accuracy mainly depends on the positioning sensor used. Optical total stations providing synchronised angle and distance data allow for subcentimetric positioning. High-precision DGPS position-ing yields subcentimetric accuracy for the horizontal component. The typical vertical accuracy is better than two centimetres. The integrated longitudinally mounted inclination sensor slightly augments the mere GPS solution. The attitude determination of the platform is a result of the combined data treatment. For GPS surveys, the typical pitch angle accuracy is two mrad. Yaw angles essentially correspond to the derivation of the trajectory with respect to the covered path and are determined with one mrad accuracy. Roll angle accuracy is dominated by the inclination sensor measurements across the track. The typical accuracy is 0.3 mrad. For the scan module, laser dots in the absolute reference frame are degraded by the uncertainty of the trajectory and the platform attitude amplified by a geometry-depending lever. The absolute accuracy of such a dot is three centimetres using a time-of-flight laser scanner. Relative accuracy between two adjacent dots amounts to five millimetres.
The Swiss Trolley was successfully applied on numerous assignments. Adaptations for the multi-sensor platform exist for tunnel site locomotives and road-vehicles.Note de contenu : 1 Introduction
2 Track Geometry
2.1 Nominal Geometries
2.1.1 Introduction
2.1.2 Horizontal Layout
2.1.3 Vertical Layout
2.2 Rules and Standards of Different Countries
2.2.1 Horizontal Layout
2.2.2 Vertical Layout
2.2.3 Cant
2.3 Kinematic Model of Motion
2.3.1 Kinematics in the Frenet System
2.3.2 Canonical Representation of the Most Common Track Curves
2.4 Remarks on Track Accuracy
2.4.1 General Remarks
2.4.2 Relative and Absolute Accuracy of a Track
2.5 Methods for Track Surveying
2.5.1 Overview
2.5.2 Relative Track Surveying
2.5.3 Absolute Track Surveying
2.5.4 Selected Track-Surveying Systems
2.5.5 The Swiss Trolley - Finding the Niche
3 Potentials and Limitations of a Kinematic Track-Surveying System
3.1 Kinematic Surveying
3.2 Absolute Position Fixing
3.2.1 GNSS
3.2.2 Tracking Total Stations
3.3 Dead Reckoning
3.3.1 Inertial Navigation Systems (INS)
3.3.2 Yaw Rates by Chord Techniques
3.3.3 Odometers
3.3.4 Height Determination by an Inclination Sensor
3.4 Attitude Determination
3.5 Kinematic Surveys of the Railway Inventory
3.5.1 Track Gauge Measuring Systems
3.5.2 Laser Scanners
3.5.3 3D Cameras
3.5.4 Ground Penetration Radar (GPR)
3.6 Synchronisation
3.7 Modelling
3.8 Transformation
4 The Track-Surveying Trolley
4.1 Introduction
4.1.1 Development
4.1.2 Concept
4.2 Data Acquisition
4.2.1 Electronic Box
4.2.2 A/D Conversion
4.2.3 Data Synchronisation
4.3 Reconstruction
4.4 Inclination Sensors
4.4.1 Sensor Characteristics
4.4.2 Calibration of Characteristic Curve
4.4.3 Temperature Influences
4.4.4 Corrections for Non-Orthogonalities (Collimation Error)
4.4.5 Dynamic Behaviour of the Inclination Sensor
4.4.6 Transformation of the Inclination Angles into the Body-System
4.5 Track Gauge Measuring System
4.5.1 Characteristics and Measuring Principle of the Track Gauge Measuring System
4.5.2 Calibration
4.6 Odometers
4.6.1 Characteristics and Calibration
4.7 Integration of Tracking Total Stations
4.7.1 Characteristics
4.7.2 Common Total Station Biases
4.7.3 Deflections of the Vertical
4.7.4 Surveys in Canted Sections
4.7.5 Synchronisation of Distances and Angles
4.7.6 Internal Tacheometer and Radio Latencies
4.8 Integration of GPS
4.8.1 Characteristics
4.8.2 NMEA Data
4.9 Boresight Calibration of Prism and Antenna Phase Centre
4.10 Laser Scanners
4.10.1 Characteristics
4.10.2 Model
4.10.3 Yaw Angle Correction
4.10.4 Evaluation of the Laser Scanner Precision
4.10.5 Variance Propagation for a Given Scanner Arrangement
4.10.6 Kinematic Calibration of Rmb, xmb and the Latency
5 Data Processing
5.1 Introduction
5.2 Post-Processing Software Concept
5.3 Data Preprocessing
5.3.1 Blunder Labelling
5.3.2 Reduction, Model
5.3.3 Linear Filters
5.3.4 Synchronisation
5.3.5 Reduction to the Centre Line of the Track
5.4 Trajectory Smoothing by a Kalman Filter
5.4.1 Discrete Kalman Filter
5.4.2 Backward Filter and Smoother
5.4.3 Absolute Model
5.4.4 Relative Model
5.5 Smoothing Splines
5.5.1 Smoothing Splines with First Derivatives
5.5.2 Comparison between Kalman Filter and Smoothing Splines
5.6 Merging Trajectories
5.6.1 Strategies for Merging
5.6.2 Chaining the Pieces
5.6.3 Merging
5.6.4 Linking Scans to Merged Trajectories
6 Applications
6.1 Slab Track Alignment
6.2 Kinematic Track Axis Surveys
6.2.1 Comparison between Forward Filter, Backward Filter and Smoother
6.2.2 Filter Tuning
6.2.3 Comparison between Absolute and Relative Model
6.2.4 The Influence of Inclinometer Measurement on GPS Heights
6.2.5 The Smoother in Action - GPS Example
6.2.6 The Smoother in Action - Total Station Example
6.3 Kinematic Scanning
7 ConclusionsNuméro de notice : 15261 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Rapport de recherche En ligne : https://www.sgc.ethz.ch/sgc-volumes/sgk-70.pdf Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=55115 Exemplaires(2)
Code-barres Cote Support Localisation Section Disponibilité 15261-01 30.70 Livre Centre de documentation Géodésie Disponible 15261-02 30.70 Livre Centre de documentation Géodésie Disponible Calibration of a 3-accelerometer inertial gravimetry system for moving gravimetry / Bertrand de Saint-Jean in Newton's bulletin, n° 3 (December 2005)
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[article]
Titre : Calibration of a 3-accelerometer inertial gravimetry system for moving gravimetry Type de document : Article/Communication Auteurs : Bertrand de Saint-Jean , Auteur ; Jérome Verdun
, Auteur ; Henri Duquenne (1948-2010)
, Auteur ; Jean-Pierre Barriot, Auteur ; José Cali, Auteur
Année de publication : 2005 Article en page(s) : pp 4 - 9 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique
[Termes IGN] accéléromètre
[Termes IGN] acquisition de données
[Termes IGN] étalonnage d'instrument
[Termes IGN] gravimètre
[Termes IGN] méthode des moindres carrésRésumé : (auteur) A moving inertial gravimetric system is being developed, consisting of three high precision accelerometers measuring accelerations along three non parallel axes. The signal delivered by each accelerometer is an electric current, the intensity of which is proportional to the acceleration experienced by the test mass of the accelerometric sensor. This sensor is also very sensitive to temperature variations which are continuously monitored by an internal temperature sensor. The current given by each accelerometer is transformed into a voltage sampled at 31.25 Hz, that is one sample every 32 ms, while the temperature is sampled at a rate of one sample every 4.096 s. Our aim is to carry out the calibration of this system in order to derive the relationship between each digitalized value given by the accelerometers and the actual acceleration, taking into account temperature variations. Our calibration system permits to tilt simultaneously the three accelerometers above a point where gravity has been precisely determined. Thus, the accelerometers can sense any acceleration value between 0 and the value of gravity at the measuring point (accelerometer axis is then vertical). We discuss the results of the calibration by looking at the residuals between observed values and those coming from different theoretical calibration functions. We particularly focus on the perturbing phenomena such as temperature or misalignment of the sensitive axis. Numéro de notice : A2005-612 Affiliation des auteurs : LAREG+Ext (1991-2011) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99024
in Newton's bulletin > n° 3 (December 2005) . - pp 4 - 9[article]Documents numériques
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Calibration of a 3-accelerometer inertial gravimetry system ... - pdf auteurAdobe Acrobat PDFLidar validation using GIS : a case study comparison between two Lidar collection methods / T.L. Webster in Geocarto international, vol 20 n° 4 (December 2005 - February 2006)
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Titre : Lidar validation using GIS : a case study comparison between two Lidar collection methods Type de document : Article/Communication Auteurs : T.L. Webster, Auteur Année de publication : 2005 Article en page(s) : pp 11 - 19 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] analyse comparative
[Termes IGN] données lidar
[Termes IGN] erreur systématique
[Termes IGN] étalonnage d'instrument
[Termes IGN] modèle numérique de surface
[Termes IGN] Nouvelle-Ecosse (Canada)
[Termes IGN] plateforme logicielle
[Termes IGN] point de vérification
[Termes IGN] système d'exploitation
[Termes IGN] système d'information géographique
[Termes IGN] télémètre laser à balayage
[Termes IGN] télémétrie laser aéroportéRésumé : (Auteur) In the summer of 2000, the Annapolis Valley of Nova Scotia, Canada was selected for a high-resolution elevation survey utilizing LIDAR (Light Detection And Ranging). Two different LIDAR systems were used to acquire data for the area. The vertical accuracy specification for the survey called for heights to be within an average of 15 cm of measured GPS heights and 95% of the data to be within 30 cm. Prior to the application of these data to geoscientific problems, extensive validation procedures were employed. High precision GPS and traditional surveys were conducted to collect height validation checkpoints. Two validation methods were developed in a GIS environment that involved comparing the checkpoints to the original LIDAR points and to an interpolated "bald earth " DEM. A systematic height error between flight lines for one of the LIDAR methods was detected that related to the calibration procedures used in the survey. This study highlights the differences between laser systems, calibration and deployment methodologies and emphasizes the necessity for independent validation data. Numéro de notice : A2005-552 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/10106040508542359 Date de publication en ligne : 02/01/2008 En ligne : https://doi.org/10.1080/10106040508542359 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=27688
in Geocarto international > vol 20 n° 4 (December 2005 - February 2006) . - pp 11 - 19[article]Exemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 059-05041 RAB Revue Centre de documentation En réserve L003 Disponible Effects of laser beam alignment tolerance on lidar accuracy / D. Latypov in ISPRS Journal of photogrammetry and remote sensing, vol 59 n° 6 (November 2005)
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Titre : Effects of laser beam alignment tolerance on lidar accuracy Type de document : Article/Communication Auteurs : D. Latypov, Auteur Année de publication : 2005 Article en page(s) : pp 361 - 368 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] données lidar
[Termes IGN] erreur systématique
[Termes IGN] étalonnage géométrique
[Termes IGN] faisceau
[Termes IGN] Lidar
[Termes IGN] orientation du capteur
[Termes IGN] plan de vol
[Termes IGN] point d'appui
[Termes IGN] télémétrie laser aéroportéRésumé : (Auteur) One of the major lidar error sources not yet analysed in the literature is the tolerance of the laser beam alignment with respect to the scanning mirror. In this paper, the problem of quantifying these errors is solved for rotating polygon mirror type lidar systems. An arbitrary deviation of the beam from its design direction -the vector of beam misalignment- can be described by two independent parameters. We choose these as horizontal and vertical components of the misalignment vector in the body frame. Either component affects both, horizontal and vertical lidar accuracy. Horizontal lidar errors appear as scan line distortions-along and across track shifts, rotations and scaling. It is shown that the horizontal component of misalignment results in a scan line first being shifted across the track and then rotated around the vertical at the new center of the scan line. Resulting vertical lidar error, being a linear function of the scan angle, is similar to that produced by a roll bias. The vertical component of the beam misalignment causes scan line scaling and an along track shift. The corresponding vertical error is quadratic with respect to the scan angle. The magnitude of these effects is significant even at tight alignment tolerances and cannot be realistically accounted for in the conventional calibration model, which includes only range, attitude and GPS biases. Therefore, in order to attain better accuracy, this model must be expanded to include the beam misalignment parameters as well. Addition of new parameters into the model raises a question of whether they can be reliably solved for. To give a positive answer to this question, a calibration method must utilize not only ground control information, which is typically very limited, but also the relative accuracy information from the overlapping flight lines. Copyright ISPRS Numéro de notice : A2005-491 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2005.09.002 En ligne : https://doi.org/10.1016/j.isprsjprs.2005.09.002 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=27627
in ISPRS Journal of photogrammetry and remote sensing > vol 59 n° 6 (November 2005) . - pp 361 - 368[article]Exemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 081-05041 SL Revue Centre de documentation Revues en salle Disponible Wavelet filter analysis of local atmospheric pressure effects on gravity variations / X.G. Hu in Journal of geodesy, vol 79 n° 8 (November 2005)
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Titre : Wavelet filter analysis of local atmospheric pressure effects on gravity variations Type de document : Article/Communication Auteurs : X.G. Hu, Auteur ; L.T. Liu, Auteur ; et al., Auteur Année de publication : 2005 Article en page(s) : pp 447 - 459 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique
[Termes IGN] anomalie de pesanteur
[Termes IGN] champ de pesanteur local
[Termes IGN] Chine
[Termes IGN] filtrage du signal
[Termes IGN] fonction harmonique
[Termes IGN] gravimètre supraconducteur
[Termes IGN] image multibande
[Termes IGN] levé gravimétrique
[Termes IGN] ondelette
[Termes IGN] pression atmosphérique
[Termes IGN] saisonRésumé : (Auteur) An efficient method is proposed for the analysis of atmospheric pressure effects on gravity variations. It processes gravity variations and pressure signals using an orthogonal filter bank derived from high-degree Daubechies wavelets. The method introduces the atmospheric pressure admittance, which is both time- and frequency-dependent, and thus provides more information about when and how the frequency components in the pressure signal influence gravity variations. We demonstrate the efficiency of the wavelet method by applying it to observations from the Wuhan (China) superconducting gravimeter station. The analysis of gravity and pressure signals in 14 sub-bands with different bandwidths covering a frequency range from 0.176 to 720cpd (cycles per day) reveals that local atmospheric pressure fluctuations start to induce obvious effects on gravity variations in the seismic band 0.52-1.04 mHz (periods 16 to 32 min) and highly cor-relate with gravity variation in the long-period seismic mode band 0.26-0.52 mHz (periods 32-64 min). The harmonics of solar heating-induced atmospheric tides play a leading role in interfering with the variation of gravity residuals in the frequency band 0.704-11.25 cpd (periods 128 min to 1.42 day). Local atmospheric pressure effects on gravity variation are very strong in the frequency band 0.176-0.704cpd (periods 1.42-5.69 day). Accurately filtering quarter-diurnal tides into a narrow band further demonstrates the efficiency of the wavelet method. After removing secular gravity changes and long-period atmospheric pressure variations, we show that there are obvious variations of local pressure admittance on time scales of hours to days. We also reveal seasonal variability of pressure admittances in the band 0. 176-0.352 cpd (periods 2.84-5.69 day) after removing the effects of solar heating atmospheric tides. Numéro de notice : A2005-461 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-005-0486-6 En ligne : https://doi.org/10.1007/s00190-005-0486-6 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=27597
in Journal of geodesy > vol 79 n° 8 (November 2005) . - pp 447 - 459[article]Exemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 266-05081 RAB Revue Centre de documentation En réserve L003 Disponible Gestion des données multitemporelles de l'auscultation d'un monument historique / M. Koehl in Géomatique expert, n° 46 (01/10/2005)
PermalinkTurn, turn, turn: wheel-speed dead reckoning for vehicle navigation / C. Hay in GPS world, vol 16 n° 10 (October 2005)
Permalink1er forum de topographie le 17 mars 2005 : la table ronde, animée par M. Kasser, a été consacrée au thème suivant : vers l'achèvement d'un cycle de modifications majeures dans le domaine de la topométrie ? / Michel Kasser in XYZ, n° 104 (septembre - novembre 2005)
PermalinkDirect sensor orientation for large scale mapping: potential, problems, solutions / N. Yastikli in Photogrammetric record, vol 20 n° 111 (September - November 2005)
PermalinkTerrestrial laser scanning : applications in cultural heritage conservation and civil engineering / T. Abmayr (01/08/2005)
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PermalinkLidar on the level in Afghanistan: GPS, inertial map the Kabul road / S. Newby in GPS world, vol 16 n° 7 (July 2005)
PermalinkLe 1er forum de topographie le 17 mars 2005 : intégration GPS et stations Totales / Michel Kasser in XYZ, n° 103 (juin - août 2005)
PermalinkL'intégration complète du GPS et d'un tachéomètre : le Smartstation de Leica / F. Kadded in XYZ, n° 103 (juin - août 2005)
PermalinkStations totales optiques et GPS : la "topographie intégrée" chez Trimble / J.F. Cabanel in XYZ, n° 103 (juin - août 2005)
PermalinkPermalinkTechnique de lever par véhicule équipé de récepteurs GPS et d'une station totale / Hervé Gontran in XYZ, n° 103 (juin - août 2005)
PermalinkUtilisation de plusieurs techniques de mesure pour enrichir une méthodologie / Alain Martin-Rabaud in XYZ, n° 103 (juin - août 2005)
PermalinkApplications géodésiques du système DORIS à l'Institut Géographique National / Pascal Willis in Comptes rendus : Géoscience, vol 337 n° 7 (May 2005)
PermalinkPermalinkPermalinkPermalinkUpdating a digital geographic database using Vehicle-borne Laser scanners and line cameras / H. Zhao in Photogrammetric Engineering & Remote Sensing, PERS, vol 71 n° 4 (April 2005)
PermalinkAnalysis of the design parameters of multi-reference station RTK GPS networks / Ahmed El-Mowafy in Surveying and land information science, vol 65 n° 1 (01/03/2005)
PermalinkPermalinkDes longitudes et des mers : la genèse de la navigation (1/3) / Frédéric Bretar in XYZ, n° 102 (mars - mai 2005)
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