US20160178754A1 - Portable gnss survey system - Google Patents
Portable gnss survey system Download PDFInfo
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- US20160178754A1 US20160178754A1 US14/975,189 US201514975189A US2016178754A1 US 20160178754 A1 US20160178754 A1 US 20160178754A1 US 201514975189 A US201514975189 A US 201514975189A US 2016178754 A1 US2016178754 A1 US 2016178754A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
Definitions
- the present disclosure relates generally to geodesy and precise positioning of a handheld geodesic device.
- GNSS global navigation satellite systems
- the satellite signals may include carrier harmonic signals that are modulated by pseudo-random binary codes and that, on the receiver side, may be used to measure the delay relative to a local reference clock. These delay measurements may be used to determine the pseudo-ranges between the receiver and the satellites.
- the pseudo-ranges are not true geometric ranges because the receiver's local clock may be different from the satellite onboard clocks.
- GNSS finds particular application in the field of surveying, which requires highly accurate measurements.
- the need to improve positioning accuracies has eventually led to the development of differential navigation/positioning.
- the user position is determined relative to an antenna connected to a base receiver or a network of base receivers with the assumption that the positional coordinates of the base receiver(s) are known with high accuracy.
- the base receiver or receiver network transmits its measurements (or corrections to the full measurements) to a mobile navigation receiver (or rover).
- the rover receiver uses these corrections to refine its measurements in the course of data processing.
- the rationale for this approach is that since the pseudo-range measurement errors on the base and rover sides are strongly correlated, using differential measurements will substantially improve positioning accuracy.
- the base is static and located at a known position.
- both the base and rover are moving.
- the user is interested in determining the vector between the base and the rover.
- the user is interested in determining the continuously changing rover position relative to the continuously changing position of the base. For example, when one aircraft or space vehicle is approaching another for in-flight refueling or docking, a highly accurate determination of relative position is important, while the absolute position of each vehicle is generally not critical.
- the position of the rover changes continuously in time, and thus should be referenced to a time scale.
- the determination of the position of a mobile rover with respect to a base receiver in real-time may be performed using an RTK algorithm, which may be stored in memory on the rover.
- RTK algorithm As the name “real-time kinematic” implies, the rover receiver is capable of calculating/outputting its precise position as the raw data measurements and differential corrections become available at the rover.
- a data communication link e.g., a radio communication link, a GSM binary data communication link, etc.
- Further improvement of the accuracy in differential navigation/positioning applications can be achieved by using both the carrier phase and pseudo-range measurements from the satellites to which the receivers are locked. For example, by measuring the carrier phase of the signal received from a satellite in the base receiver and comparing it with the carrier phase of the same satellite measured in the rover receiver, one can obtain measurement accuracy to within a small fraction of the carrier's wavelength.
- Multipath errors are caused by the reflection of the GNSS satellite signals by surfaces located near the receiving antenna. As a result of these reflections, the antenna receives both the direct signal traveling the shortest path from the satellite to the receiver as well as the reflected signals following indirect paths. The combination of two (or more) signals at the antenna leads to the distortion of raw measurements. Multipath errors may affect both pseudo-range and carrier phase measurements.
- a correction signal is received from a GNSS base unit.
- the GNSS base unit is located at a fixed point.
- the correction signal is used to determine a position of a point of the set of points.
- the position is stored in memory of the GNSS rover unit as position data. These steps are repeated for each point in the set of points.
- Raw GNSS data of the GNSS base unit is transmitted to the server system.
- a corrected position of the GNSS base unit is received from the server system.
- the position data is translated based on the corrected position of the GNSS base unit to produce adjusted position data.
- FIG. 1 illustrates an exemplary graphics-aided geodesic device viewed from various angles.
- FIG. 2A illustrates an exemplary view of the orientation of the components of a graphics-aided geodesic device.
- FIG. 2B illustrates another exemplary view of the orientation of the components of a graphics-aided geodesic device.
- FIG. 2C illustrates yet another exemplary view of the orientation of the components of a graphics-aided geodesic device.
- FIG. 3 illustrates an exemplary logic diagram showing the relationships between the various components of a graphics-aided geodesic device.
- FIG. 4 illustrates an exemplary view of the display screen of a graphics-aided geodesic device including elements used for positioning the device.
- FIG. 5 illustrates another exemplary view of the display screen of a graphics-aided geodesic device oriented horizontally and above a point of interest.
- FIG. 6 illustrates an exemplary process for determining a position of an unknown point.
- FIGS. 7-10 illustrates an exemplary layout of an unknown point and three known points from which images are captured.
- FIG. 11 illustrates an exemplary process for adjusting position data for a set of position.
- FIG. 12 illustrates an exemplary process for using an image of a level with a GNSS device.
- FIG. 13 depicts a GNSS unit mounted on a pole with a level.
- FIG. 14 depicts a screen shot of a GNSS device that includes a portion of an image of a level.
- FIG. 15 depicts an exemplary computer system that may be used to implement embodiments of the present invention.
- a first set of positions of a GNSS receiver may be determined using each of a plurality of RTK engines. If a number of the plurality of RTK engines that produce a fixed solution is greater than or equal to a threshold value, a position of the GNSS receiver may be determined based on at least a portion of the first set of positions. The determined position may then be stored. This process may be repeated any number of times to produce a desired number of stored positions. In response to the number of stored positions being equal to a minimum value, a final position of the GNSS device may be determined based on the stored positions.
- FIG. 1 illustrates an exemplary graphics-aided geodesic device 100 viewed from various angles.
- Graphics-aided geodesic device 100 is shown contained within camera housing 105 .
- Camera housing 105 allows the user to hold graphics-aided geodesic device 100 as one would hold a typical camera.
- the device may include GNSS antenna 110 which may receive signals transmitted by a plurality of GNSS satellites and used by graphics-aided geodesic device 100 to determine position.
- GNSS antenna may receive signals transmitted by at least 4 GNSS satellites.
- GNSS antenna 110 is located on the top side of graphics-aided geodesic device 100 .
- Graphics-aided geodesic device 100 may further include a GNSS receiver (not shown) for converting the signal received by GNSS antenna 110 into Earth-based coordinates, for example, World Geodetic System 84 (WGS84), Earth-Centered Earth Fixed (ECEF), local east, north, up coordinates (ENU), and the like.
- GNSS receiver for converting the signal received by GNSS antenna 110 into Earth-based coordinates, for example, World Geodetic System 84 (WGS84), Earth-Centered Earth Fixed (ECEF), local east, north, up coordinates (ENU), and the like.
- GSS84 World Geodetic System 84
- ECEF Earth-Centered Earth Fixed
- ENU up coordinates
- Graphics-aided geodesic device 100 may further include “measure” button 120 to cause the device to perform a position measurement.
- this button may be similar to that of a conventional camera. However, instead of taking a photograph, “measure” button 120 may cause graphics-aided geodesic device 100 to perform a position measurement as described in greater detail below. In the example shown by FIG. 1 , “measure” button 120 is located on the top side of graphics-aided geodesic device 100 .
- Graphics-aided geodesic device 100 may further include display 130 for displaying information to assist the user in positioning the device.
- Display 130 may be any electronic display such as a projection display, a liquid crystal (LCD) display, light emitting diode (LED) display, a plasma display, and the like. Such display devices are well-known by those of ordinary skill in the art and any such device may be used. In the example shown by FIG. 1 , display 130 is located on the back side of graphics-aided geodesic device 100 .
- Graphics-aided geodesic device 100 may further include camera 140 for recording still images or video. Such recording devices are well-known by those of ordinary skill in the art and any such device may be used.
- camera 140 is located on the bottom side of graphics-aided geodesic device 100 .
- display 130 may be used to display the out put of camera 140 .
- display 130 displays a view of the ground located below graphics-aided geodesic device 100 .
- Graphics-aided geodesic device 100 may further include horizon sensors (not shown) for determining the orientation of the device.
- the horizon sensors may be any type of horizon sensor, such as an inclinometer, accelerometer, and the like. Such horizon sensors are well-known by those of ordinary skill in the art and any such device may be used.
- a representation of the output of the horizon sensors may be displayed using display 130 . A more detailed description of display 130 is provided below.
- Horizon sensors 215 and 216 are illustrated in FIGS. 2A-2C and FIG. 3 .
- the horizon sensors 215 and 216 by determining the inclination of the geodesic device 100 , allow a CPU to compensate for errors resulting from the mis-leveling of the geodesic device 100 .
- a user taking a position measurement may position the geodesic device 100 so that it is not level with respect to a plane parallel to the horizon.
- the CPU 360 ( FIG. 3 ) of the geodesic device 100 receiving orientation data from the horizon sensors 215 and 216 , can compensate the position determination as long as the inclination of the geodesic device 100 is below an inclination threshold.
- the orientation data indicating the orientation of the GNSS antenna 110
- the CPU 360 may use the orientation data to correct for errors in the position data received by the GNSS antenna 360 .
- the position determination and compensation by the CPU 360 is generally discussed below.
- a geodesic device 100 may be configured to have an inclination error of 15 degrees. As such, if the inclination of the geodesic device 100 is between 0 to 15 degrees with respect to a plane parallel to the horizon, the CPU 360 will determine the position of the point of interest.
- the horizon sensors 215 and 216 determining the inclination of the geodesic device 100 with respect to a plane parallel with the horizon may be used to determine when the CPU 360 of the geodesic device 100 determines the position of a point of interest.
- the horizon sensors 215 and 216 measure the inclination of the geodesic device 100 with respect to a plane parallel to the horizon.
- the CPU 360 automatically begins determining the position of a point of interest when the inclination of the geodesic device 100 enters a predetermined inclination range.
- the CPU 360 continues determining position of the point of interest as long as the inclination of the geodesic device 100 is within the predetermined inclination range.
- the CPU 360 suspends determining the position of the point of interest.
- the user of the geodesic device 100 may indicate that a position measurement should be taken at an inclination of 0 to 15 degrees from a plane parallel with the horizon.
- the position measurement by the CPU 360 starts automatically.
- the CPU 360 suspends the position measurement.
- the user may set a predetermined inclination range at which the CPU 360 will initiate the position measurement.
- the position measurement by the CPU 360 starts and stops depending on the positioning and orientation of the geodesic device 100 .
- the user does not need to activate the position determination by depressing a start and stop key, for example.
- the user does not need to search for a start or stop button to take a position measurement when environmental conditions, such as bright sunlight and darkness, may make it challenging for the user to find specific soft keys or hard buttons, respectively.
- the CPU 360 deactivates buttons and touch display screen so that they do not respond to user actuation input or inadvertently activated.
- the CPU 360 deactivates, or locks, the function of buttons and the touch screen when the horizon sensors 215 and 216 determine the geodesic device 100 is inclined more than a predetermined threshold inclination.
- the buttons and display screen of the geodesic device 100 locks when the horizon sensors 215 and 216 determines the inclination of the geodesic device 100 is more than 30 degrees.
- Graphics-aided geodesic device 100 may further include distance sensor 150 to measure a linear distance.
- Distance sensor 150 may use any range-finding technology, such as sonar, laser, radar, and the like. Such distance sensors are well-known by those of ordinary skill in the art and any such device may be used. In the example illustrated by FIG. 1 , distance sensor 150 is located on the bottom side of graphics-aided geodesic device 100 .
- FIGS. 2A-C illustrate exemplary views of graphics-aided geodesic device 100 and the orientation of its components from various angles.
- FIG. 2A shows a side view of graphics-aided geodesic device 100 with arrows 201 and 202 indicating the top/bottom and front/back of the device, respectively.
- FIG. 2B shows graphics-aided geodesic device 100 viewed from the back with arrows 203 and 204 indicating the top/bottom and left/right side of the device, respectively.
- FIG. 2C shows a bottom view of graphics-aided geodesic device 100 with arrows 205 and 206 indicating the right/left side and front/back of the device, respectively.
- camera housing 105 contains antenna 110 , horizon sensors 215 and 216 , distance sensor 150 , and camera 140 .
- antenna 110 has an antenna ground plane defined by antenna phase center 211 and two ground plane vectors 212 and 213 .
- ground plane vectors 212 and 213 are parallel or substantially parallel to the local horizon.
- Camera 140 has optical center 241 located along camera optical axis 242 .
- Camera optical axis 242 passes through antenna phase center 211 and is orthogonal or substantially orthogonal to ground plane vectors 212 and 213 .
- Distance sensor 150 has distance sensor main axis (measuring direction) 251 which is parallel or substantially parallel to camera optical axis 242 .
- Horizon sensors 215 and 216 have orthogonal or substantially orthogonal measurement vectors 217 and 218 which create a plane parallel or substantially parallel to the antenna ground plane defined by ground plane vectors 212 and 213 . It should be appreciated that in a real-world application, the components of graphics-aided geodesic device 100 may not be positioned exactly as described above. For instance, due to manufacturing imperfections, the orientations of certain components may not be parallel or orthogonal to the other components as designed. The tolerances for the orientations of the various components depend on the desired precision of the resulting position measurement.
- FIG. 3 illustrates an exemplary logic diagram showing the relationships between the various components of graphics-aided geodesic device 100 .
- GNSS antenna 110 may send position data received from GNSS satellites to GNSS receiver 315 .
- GNSS receiver 315 may convert the received GNSS satellite signals into Earth-based coordinates, such as WGS84, ECEF, ENU, and the like.
- GNSS receiver 315 may further send the coordinates to CPU 360 for processing along with distance data from distance sensor 150 , pitch data from pitch horizon sensor 215 , roll data from roll horizon sensor 216 , a measure command from “measure” button 120 , and image data from video camera 140 .
- CPU 360 processes the data as will be described in greater detail below and provides display data to be displayed on display 130 .
- the GNSS receiver may also include one or more communication interfaces (not shown) as discussed in detail below. These communication interfaces may be used to transmit and receive position data, correction signals, and other data.
- FIG. 4 illustrates an exemplary view 400 of display 130 for positioning graphics-aided geodesic device 100 .
- display 130 may display the output of camera 140 .
- the display of the output of camera 140 includes point of interest marker 440 .
- point of interest marker 440 is a small circular object identifying a particular location on the ground.
- the location to be measured is located on the ground and that the point of interest is identifiable by a visible marker (e.g., point of interest marker 440 ).
- the marker may be any object having a small height value. For instance, an “X” painted on ground or a circular piece of colored paper placed on the point of interest may serve as point of interest marker 440 .
- display 130 may further include virtual linear bubble levels 410 and 420 corresponding to the roll and pitch of graphics-aided geodesic device 100 , respectively.
- Virtual linear bubble levels 410 and 420 may include virtual bubbles 411 and 421 which identify the amount and direction of roll and pitch of graphics-aided geodesic device 100 .
- Virtual linear bubble levels 410 and 420 and virtual bubbles 411 and 421 may be generated by CPU 360 and overlaid on the actual image output of camera 140 .
- positioning of virtual bubbles 411 and 421 in the middle of virtual linear bubble levels 410 and 420 indicate that the device is positioned “horizontally.” As used herein, “horizontally” refers to the orientation whereby the antenna ground plane is parallel to the local horizon.
- data from horizon sensors 215 and 216 may be used to generate the linear bubble levels 410 and 420 .
- sensor data from horizon sensors 215 and 216 may be sent to CPU 360 which may convert a scaled sensor measurement into a bubble coordinate within virtual linear bubble levels 410 and 420 .
- CPU 360 may then cause the display on display 130 of virtual bubbles 411 and 421 appropriately placed within virtual linear bubble levels 410 and 420 .
- virtual linear bubble levels 410 and 420 may act like traditional bubble levels, with virtual bubbles 411 and 421 moving in response to tilting and rolling of graphics-aided geodesic device 400 . For example, if graphics-aided geodesic device 100 is tilted forward, bubble 420 may move downwards within virtual linear bubble level 420 .
- virtual bubble 411 may move to the right within virtual linear bubble level 410 .
- virtual linear bubble levels 410 and 420 are generated by CPU 360 , movement of virtual bubbles 411 and 421 may be programmed to move in any direction in response to movement of graphics-aided geodesic device 100 .
- display 130 may further include planar bubble level 425 .
- Planar bubble level 425 represents a combination of virtual linear bubble levels 410 and 420 (e.g., placed at the intersection of the bubbles within the linear levels) and may be generated by combining measurements of two orthogonal horizon sensors (e.g., horizon sensors 215 and 216 ). For instance, scaled measurements of horizon sensors 215 and 216 may be converted by CPU 360 into X and Y coordinates on display 130 . In one example, measurements from horizon sensor 215 may be used to generate the X coordinate and measurements from horizon sensor 216 may be used to generate the Y coordinate of planar bubble level 425 .
- display 130 may further include central crosshair 450 .
- central crosshair 450 may be placed in the center of display 130 .
- the location of central crosshair 450 may represent the point in display 130 corresponding to the view of camera 140 along optical axis 242 .
- placement of planar bubble level 425 within central crosshair 450 may correspond to graphics-aided geodesic device 100 being positioned horizontally.
- Central crosshair 450 may be drawn on the screen of display 130 or may be electronically displayed to display 130 .
- Display 130 may be used to aid the user in positioning graphics-aided geodesic device 100 over a point of interest by providing feedback regarding the placement and orientation of the device. For instance, the camera output portion of display 130 provides information to the user regarding the placement of graphics-aided geodesic device 100 with respect to objects on the ground. Additionally, virtual linear bubble levels 410 and 420 provide information to the user regarding the orientation of graphics-aided geodesic device 100 with respect to the horizon. Using at least one of the two types of output displayed on display 130 , the user may properly position graphics-aided geodesic device 100 without the use of external positioning equipment.
- both point of interest marker 440 and planar bubble level 425 are shown as off-center from central crosshair 450 . This indicates that optical axis 242 of camera 140 is not pointed directly at the point of interest and that the device is not positioned horizontally. If the user wishes to position the device horizontally above a particular point on the ground, the user must center both planar bubble level 425 and point of interest marker 440 within central crosshair 450 as shown in FIG. 5 .
- FIG. 5 illustrates another exemplary view 500 of display 130 .
- virtual linear bubble levels 410 and 420 are shown with their respective bubbles centered, indicating that the device is horizontal.
- planar bubble level 425 is also centered within central crosshair 450 .
- point of interest marker 440 is shown as centered within central crosshair 450 . This indicates that optical axis 242 of camera 140 is pointing towards point of interest marker 440 .
- graphics-aided geodesic device 100 is positioned horizontally above point of interest marker 440 .
- antenna phase center 211 may be located along optical axis 242 . This means that in the example shown by FIG. 5 , antenna phase center 211 is also located directly above point of interest marker 440 . Thus, the only difference between the position of antenna phase center 211 and point of interest marker 440 is a vertical component equal to the vertical distance between point of interest marker 440 and antenna phase center 211 . In this example, the position of point of interest marker 440 may be calculated using the following equation:
- D out Distance measured by distance sensor 150 from the sensor's zero measurement point to an object along distance sensor main axis 251 .
- ⁇ right arrow over (P) ⁇ x of equation (1) represents the calculated position of the point of interest.
- ⁇ right arrow over (P) ⁇ dev represents the position of antenna phase center 211 determined by graphics-aided geodesic device 100 .
- ⁇ right arrow over (n) ⁇ represents a unit vector pointing in a direction orthogonal to the ground.
- D in represents the vertical distance between antenna phase center 211 and the zero measurement point of distance sensor 150 .
- the zero measurement point of distance sensor 150 is the point in space for which distance sensor 150 is configured to return a zero value and may be located either inside or outside of graphics-aided geodesic device 100 .
- D in is a constant value that is specific to each graphics-aided geodesic device 100 .
- D out represents the distance measured by distance sensor 150 from the sensor's zero measurement point to an object along distance sensor main axis 251 . Therefore, ⁇ right arrow over (P) ⁇ x is calculated by taking the position measured by graphics-aided geodesic device 100 and subtracting a vertical distance equal to the distance measured by distance sensor 150 plus the distance between antenna phase center 211 and the zero measurement point of distance sensor 150 .
- equation (1) may be expressed in any coordinate system.
- the above described equation may be applicable to any Cartesian coordinate system and the measurement results may be converted to any Earth-based coordinates, such as WGS84, ECEF, ENU, and the like. Such conversion methods are well-known by those of ordinary skill in the art.
- a position of a point cannot be determined with direct GNSS measurements from that point.
- the point may be inaccessible, have no access to GNSS signals, or may be a feature on an object where a GNSS device cannot be setup.
- the exemplary process described below may be used with a GNSS device, such as graphics-aided geodesic device 100 , to determine the position of the point based on a series of images containing the point captured from various known points.
- FIG. 6 illustrates an exemplary process 600 for determining a position (e.g., x-y coordinates, x-y-z coordinates, latitude-longitude, latitude-longitude-altitude, etc.) of an unknown point using, for example, graphics-aided geodesic device 100 ( FIG. 1 ).
- a position e.g., x-y coordinates, x-y-z coordinates, latitude-longitude, latitude-longitude-altitude, etc.
- a position e.g., x-y coordinates, x-y-z coordinates, latitude-longitude, latitude-longitude-altitude, etc.
- graphics-aided geodesic device 100 determines the position of a first point (e.g., by using received GNSS signals) and captures an image of the unknown point and at least one of either the second point or the third point.
- FIG. 7 depicts unknown point 700 , first point 702 , second point 704 , and third point 706 .
- an image sensor, having field of view 800 of graphics-aided geodesic device 100 (not shown) captures an image from first point 702 that includes unknown point 700 and second point 704 .
- the position of the first point may be associated with or stored within the first image captured from the first point using, for example, metadata of the image.
- graphics-aided geodesic device 100 determines the position of the second point (e.g., by again using received GNSS signals) and captures an image of the unknown point and at least one of the first point or the third point.
- the image sensor, which has field of view 800 , of graphics-aided geodesic device 100 (not shown) captures an image from second point 704 that includes unknown point 700 and third point 706 .
- the position of the second point may be associated with or stored within the second image captured from the first point using, for example, metadata of the image.
- graphics-aided geodesic device 100 determines the position of the third point (e.g., by again using received GNSS signals) and captures an image of the unknown point and at least one of the first point or the second point.
- the image sensor, which has field of view 800 , of graphics-aided geodesic device 100 (not shown) captures an image from second point 704 that includes unknown point 700 and second point 704 .
- the position of the third point may be associated with or stored within the third image captured from the first point using, for example, metadata of the image.
- graphics-aided geodesic device 100 or a computer calculates the position of the unknown point based on the positions of the first, second, and third points and the images captured from the first, second, and third points. This calculation may be performed with, for example, a photogrammetric algorithm.
- a marker may be placed at the first, second, or third points (or any combination of these points).
- the marker may be a flag, paint, a stake, or any other object that allows the first, second or third point to be identified in the images.
- geodesic device 100 While the above process was described with respect to graphics-aided geodesic device 100 , other geodesic devices may also be used. For example, a geodesic device without an image sensor could be used if the geodesic device is paired with an external image sensor.
- RTK productivity typically improves when the base station is close to the rover. Searching for “integer ambiguity” and having a correct “fixed solution” may become more reliable, faster, and accurate. These improvements may be greater in areas with foliage, multipath, and obstructed satellites.
- RTN and VRS systems provide a “virtual” base station near you, but this does not mean that the “virtual” base station is a “real” base station that eliminates the integer ambiguity problem.
- the difficulties of obtaining a fixed solution is still related to the nearest actual base station to your location. There are two problems with depending on your own base station near your rover working area. The following are explanations of both and solutions:
- the user may not have a known point to set the base station on, or lack confidence in the coordinates of the point.
- Using a verified base (VB) addresses this problem.
- the embodiments of the invention may implement a VB reliably and automatically.
- the results of using a VB RTK system may outperform RTN/VRS systems because in those system the nearest actual “real” base station is often many miles away, while a user can set up a base station near the RTK work area, usually less than a mile away.
- a GNSS base unit records raw GNSS data at the base station and transmits corrections to a GNSS rover, such as graphics-aided geodesic device 100 .
- a GNSS rover such as graphics-aided geodesic device 100 .
- the raw GNSS data can then be processed against correction data (e.g., NGS CORS data) to produce a corrected position of the GNSS base unit.
- correction data e.g., NGS CORS data
- a VB RTK system is useful even in situations in which the base was setup on a known point as the corrected position for the GNSS base unit can be compared against the known point coordinates to verify the GNSS base unit position (e.g., setup on the right point, the point had not been damaged, the coordinates were properly entered, the instrument height was correct, etc.).
- FIG. 11 illustrates an exemplary process 1100 for using a VB RTK system.
- Process 1100 relies on a GNSS base unit (see incorporated references for details about the base unit) and GNSS rover unit (e.g., graphics-aided geodesic device 100 ).
- the GNSS base unit may be a mile or less from the GNSS rover unit to ensure higher position accuracy.
- a GNSS base unit transmits a correction signal to a GNSS rover unit.
- the user may setup the GNSS base unit at a known point having a known position.
- the GNSS base unit transmits correction signals to the GNSS rover unit that improves accuracy of the GNSS rover unit's determination of a position of a point.
- the GNSS base unit may transmit the correction signal wirelessly on a frequency adapted to travel on the order of at least a miles.
- the GNSS base unit may use a UHF wireless interface to transmit the correction signal.
- the GNSS base unit may store raw GNSS data that is used to determine the position of the GNSS base unit.
- a GNSS rover unit determines position data for a set of points (e.g., a position for each point in the set of points).
- the set of points may be pre-defined or the points may be selected as a user moves the GNSS unit around a working area.
- the GNSS rover unit may use the correction signal and GNSS satellite signals to determine the position of the point where the GNSS rover unit is located. This process may be repeated for each of the points in the set of points.
- the raw GNSS data from the GNSS base unit used to determine the point where the GNSS base unit is located may be transmitted to a server system that processes the data to determine a correction to the position.
- This transmission may be carried out any number of ways.
- the GNSS base unit may transmit the data directly to the server system using wireless network connections, such as GSM, CDMA, LTE, or WiFi connections.
- the GNSS base unit may transfer the data to the GNSS rover unit using Bluetooth, WiFi, SD Cards, USB, or some other form of communication.
- the GNSS rover may then transmit the raw GNSS data to the server system over a network connection, such as a GSM, CDMA, LTE, or WiFi connection to the Internet.
- the server system returns corrected position data for the position of the GNSS base unit.
- the server system may process the raw GNSS data with National Geodetic Survey (NGS) Continuously Operating Reference Stations (CORS) data to generate corrected position data.
- the corrected position data may be, for example, a corrected position of the GNSS base unit or an offset to apply to a previously determined position of the GNSS base unit.
- the GNSS rover unit receives the corrected position data over, for example, a wireless interface connected to the Internet.
- the GNSS rover unit uses the corrected position data to translate the position data to create translated position data for the set of points. For example, if the corrected position data is an offset for the position of the point where the GNSS base unit is located, that offset may be applied to the determined position of each point in the set of points. As another example, if the corrected position data is a correct position for the point where the GNSS base unit is located, an offset can be calculated and applied to the determined position of each point in the set of points. Before the position data for the set of points is translated using the corrected position data, optionally, the user may be prompted ensure that the position data should be translated.
- Correcting the position data of the set of points can be an automated process.
- blocks 1102 , 1106 , 1108 , and 1110 may be automated to require no or limited user interaction in order to make process 1100 as seamless as possible for the user.
- the corrected position data can also be used to verify a user entered position of the GNSS base unit.
- translating may not be needed if the position data accounts for the corrected position data in real-time as the position data is being collected.
- the GNSS base unit may receive corrected position data or a correction signal on a regular basis from a server system that provides corrected position data that accounts for errors introduced by atmospheric conductions. The GNSS base unit then uses the corrected position data or correction signal to provide a correction signal to the GNSS rover that can be used to account for positions, in real-time, caused by, for example, atmospheric interferenec.
- this alternative has the benefit of providing the translated position data in real-time, instead of having to perform the translation process described at a later time.
- this alternative also requires the GNSS base unit or GNSS rover to have data access to the server system, which can be difficult in areas with poor coverage by communications networks. Access to the communications networks may also be prohibitively expensive.
- a correction network can be used instead.
- a network of reference stations with ranges usually less than 100 km is used.
- the network stations continuously collect satellite observations and send them to a central processing facility, at which the station observations are processed in a common network where adjustment and observation errors and their corrections are computed.
- the observation corrections obtained from the network are sent to the GNSS rover, operating within the coverage area of the network stations, to mitigate position errors.
- This process requires the GNSS rover to transmit its location to the central processing facility so that the central processing facility can determine the appropriate correction signal to send back to the GNSS rover.
- These two communication channels i.e., from the rover to the central processing facility and from the central processing facility back to the rover
- the interface the GNSS rover uses to transmit its position to the central processing facility may be different than the interface the GNSS rover uses to receive the correction signal from the central processing facility.
- the two interfaces can be chosen based on characteristics of the communications using the interface, such as cost, service area, bandwidth, and latency.
- the characteristics of the transmission to the central processing facility and the transmission of the correction signal to the GNSS rover may also be considered, such as size of the transmissions and how often the transmissions are made.
- the GNSS rover transmits its position to the central processing facility using a terrestrial-based communication network that connects to the Internet, such as a GPRS network using cellular towers. Similar terrestrial-based communication networks could also be used, such as WiFi, WiMax, 3G, 4G, or LTE networks. However, GPRS networks have the advantage of typically having better coverage area.
- the correction signal may then be transmitted back to the GNSS rover, for example, using one-way satellite communication via a satellite communication network. This arrangement eliminates the need for two-way satellite communications, which can simplify the hardware requirements for the GNSS rover, reduce network service costs, and conserve power.
- the GNSS rover in this example would only need an interface that can receive satellite communications signals and would not need to be able to transmit them.
- This example still provides robust correction signals while minimizing network costs because the communications from the GNSS rover to the central processing facility are rare (e.g., in some cases, occurring every tens of minutes or no more than once every ten minutes).
- the cost of the communications can be reduced and the GNSS rover communications hardware can be simplified.
- correction signals are sent more often than every second, (e.g., at 5 Hz) an unexpected increase in productive occurs.
- Conventional RTK corrections are not sent any faster than 1 Hz because of the general belief that GNSS satellites must move before an additional correction signal is useful.
- an RTK solution is obtained faster (e.g., by resolving ambiguities faster), which has the unexpected benefit of improved productivity.
- a correction signal sent once a second it may take 30 seconds to find a solution in some environments.
- using a correction signal sent five times a second may reduce the time needed for a solution to a few seconds.
- the increased frequency of the correction signal may be particularly helpful in environments without clear views of the sky, such as under trees or in an area with large buildings that create multipath issues.
- a level such as a circular bubble level, may be used to verify that a GNSS device is not tilted.
- the level may be mounted on the GNSS device or mounted in some other way that structurally couples to the GNSS device and indicates whether the GNSS device is tilted in the two-dimensional plane parallel to the ground.
- the level may be mounted on a support structure, such as a pole, tripod, or trolley, to which the GNSS device is also mounted.
- the display is typically viewable from the side of the GNSS device and the level is typically below the GNSS device on the support structure.
- This configuration requires the user to focus in two different directions to properly setup and operate the GNSS device.
- a bottom facing image sensor on the GNSS device will automatically focus on the level and capture an image or series of images (i.e., a video stream). The image or images of the level can then be displayed on the display so that the user can operate the GNSS device while continuing to monitor the level for tilt of the GNSS device.
- This configuration also enables a user to take screen shots to document the level of the GNSS device and to calibrate an electronic level of the GNSS device against the bubble level.
- FIG. 12 illustrates an exemplary process 1200 for using a level with a GNSS device.
- Process 1200 relies on a GNSS device (e.g., graphics-aided geodesic device 100 ) that has an image sensor that can focus on a level that is structurally mounted with the GNSS device so that the level indicates whether the GNSS device is tilted in the two-dimensional plane parallel to the ground.
- a GNSS device e.g., graphics-aided geodesic device 100
- an image sensor that can focus on a level that is structurally mounted with the GNSS device so that the level indicates whether the GNSS device is tilted in the two-dimensional plane parallel to the ground.
- the GNSS device focuses an image sensor on a location with a level that indicates a tilt of the GNSS device with respect to the two-dimensional plane parallel to the ground.
- the level may be structurally mounted with the GNSS device to a support.
- GNSS device 1302 and bubble level 1304 are mounted to support pole 1306 .
- the GNSS device may focus the image sensor on the level by capturing an image of a scene that includes the level and then image process the captured image to identify the location of the level.
- the GNSS device can then focus the image sensor on the location of the level.
- a user can identify the location of the level in an image or the user can manually focus the image sensor until the level is in focus.
- the GNSS device captures an image of a scene that includes the level.
- an image sensor on the bottom of GNSS device 1302 may capture an image of the top-down view of level 1304 . Because of the focusing done in block 1202 , the level should be in focus in the image. It is also possible that instead of a single image, a series of images are captured to form a live stream or live video of the scene containing the level.
- the GNSS device displays a portion of the image of the level on a display of the GNSS device, such as display 1308 of FIG. 13 .
- FIG. 14 depicts example screen shot 1400 of a display of a GNSS device.
- Position information 1402 is also displayed on the bottom of screen shot 1400 .
- Other position data is displayed around screen shot 1400 .
- Portion 1404 of the image is displayed.
- Portion 1404 depicts the level as captured by the image sensor.
- Portion 1406 may be static or dynamic and the result of cropping the image.
- Screen shot 1400 may be stored in memory of the GNSS device to document the measurement and setup of the GNSS device. Portion 1404 may also be used to calibrate an electronic level that is internal to the GNSS device.
- a GNSS device equipped with a camera may also be useful for determining an angle between two points with respect to the point where the GNSS device is located.
- the image sensor may capture an image of a scene that includes the two points.
- the image may be displayed on the display of the GNSS device.
- the user may indicate a first point and second point in the image.
- the GNSS device may then calculate an angle between the two points based on the field of view of the image sensor and the locations of the two points in the image.
- the calculated angle may then be displayed on the GNSS display or the image may be tagged, in the metadata for example, with the calculated angle before storing the image in memory of the GNSS device.
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Abstract
Determining positions for a set of points using a GNSS rover unit includes receiving a correction signal from a GNSS base unit. The GNSS base unit is located at a fixed point. The correction signal is used to determine a position of a point of the set of points. The position is stored in memory of the GNSS rover unit as position data. These steps are repeated for each point in the set of points. Raw GNSS data of the GNSS base unit is transmitted to the server system. A corrected position of the GNSS base unit is received from the server system. The position data is translated based on the corrected position of the GNSS base unit to produce adjusted position data.
Description
- This application claims the benefit to U.S. Provisional Patent Application No. 62/093,959, filed Dec. 18, 2014, the disclosure of which is hereby incorporated herein by reference in its entirety for all purposes.
- 1. Field
- The present disclosure relates generally to geodesy and precise positioning of a handheld geodesic device.
- 2. Related Art
- Navigation receivers that use global navigation satellite systems, such as GPS or GLONASS (hereinafter collectively referred to as “GNSS”), enable a highly accurate determination of the position of the receiver. The satellite signals may include carrier harmonic signals that are modulated by pseudo-random binary codes and that, on the receiver side, may be used to measure the delay relative to a local reference clock. These delay measurements may be used to determine the pseudo-ranges between the receiver and the satellites. The pseudo-ranges are not true geometric ranges because the receiver's local clock may be different from the satellite onboard clocks. If the number of satellites in sight is greater than or equal to four, then the measured pseudo-ranges can be processed to determine the user's single point location as represented by a vector X=(x, y, z)T, as well as to compensate for the receiver clock offset.
- GNSS finds particular application in the field of surveying, which requires highly accurate measurements. The need to improve positioning accuracies has eventually led to the development of differential navigation/positioning. In this mode, the user position is determined relative to an antenna connected to a base receiver or a network of base receivers with the assumption that the positional coordinates of the base receiver(s) are known with high accuracy. The base receiver or receiver network transmits its measurements (or corrections to the full measurements) to a mobile navigation receiver (or rover). The rover receiver uses these corrections to refine its measurements in the course of data processing. The rationale for this approach is that since the pseudo-range measurement errors on the base and rover sides are strongly correlated, using differential measurements will substantially improve positioning accuracy.
- Typically, the base is static and located at a known position. However, in relative navigation mode, both the base and rover are moving. In this mode, the user is interested in determining the vector between the base and the rover. In other words, the user is interested in determining the continuously changing rover position relative to the continuously changing position of the base. For example, when one aircraft or space vehicle is approaching another for in-flight refueling or docking, a highly accurate determination of relative position is important, while the absolute position of each vehicle is generally not critical.
- The position of the rover changes continuously in time, and thus should be referenced to a time scale. The determination of the position of a mobile rover with respect to a base receiver in real-time may be performed using an RTK algorithm, which may be stored in memory on the rover. As the name “real-time kinematic” implies, the rover receiver is capable of calculating/outputting its precise position as the raw data measurements and differential corrections become available at the rover. When implementing an RTK algorithm, a data communication link (e.g., a radio communication link, a GSM binary data communication link, etc.) may be used to transmit the necessary information from the base to the rover.
- Further improvement of the accuracy in differential navigation/positioning applications can be achieved by using both the carrier phase and pseudo-range measurements from the satellites to which the receivers are locked. For example, by measuring the carrier phase of the signal received from a satellite in the base receiver and comparing it with the carrier phase of the same satellite measured in the rover receiver, one can obtain measurement accuracy to within a small fraction of the carrier's wavelength.
- One well-known type of measurement error that can reduce the accuracy of differential navigation/positioning is multipath error. Multipath errors are caused by the reflection of the GNSS satellite signals by surfaces located near the receiving antenna. As a result of these reflections, the antenna receives both the direct signal traveling the shortest path from the satellite to the receiver as well as the reflected signals following indirect paths. The combination of two (or more) signals at the antenna leads to the distortion of raw measurements. Multipath errors may affect both pseudo-range and carrier phase measurements.
- In an embodiment for determining positions for a set of points using a GNSS rover unit, a correction signal is received from a GNSS base unit. The GNSS base unit is located at a fixed point. The correction signal is used to determine a position of a point of the set of points. The position is stored in memory of the GNSS rover unit as position data. These steps are repeated for each point in the set of points. Raw GNSS data of the GNSS base unit is transmitted to the server system. A corrected position of the GNSS base unit is received from the server system. The position data is translated based on the corrected position of the GNSS base unit to produce adjusted position data.
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FIG. 1 illustrates an exemplary graphics-aided geodesic device viewed from various angles. -
FIG. 2A illustrates an exemplary view of the orientation of the components of a graphics-aided geodesic device. -
FIG. 2B illustrates another exemplary view of the orientation of the components of a graphics-aided geodesic device. -
FIG. 2C illustrates yet another exemplary view of the orientation of the components of a graphics-aided geodesic device. -
FIG. 3 illustrates an exemplary logic diagram showing the relationships between the various components of a graphics-aided geodesic device. -
FIG. 4 illustrates an exemplary view of the display screen of a graphics-aided geodesic device including elements used for positioning the device. -
FIG. 5 illustrates another exemplary view of the display screen of a graphics-aided geodesic device oriented horizontally and above a point of interest. -
FIG. 6 illustrates an exemplary process for determining a position of an unknown point. -
FIGS. 7-10 illustrates an exemplary layout of an unknown point and three known points from which images are captured. -
FIG. 11 illustrates an exemplary process for adjusting position data for a set of position. -
FIG. 12 illustrates an exemplary process for using an image of a level with a GNSS device. -
FIG. 13 depicts a GNSS unit mounted on a pole with a level. -
FIG. 14 depicts a screen shot of a GNSS device that includes a portion of an image of a level. -
FIG. 15 depicts an exemplary computer system that may be used to implement embodiments of the present invention. - In the following description, reference is made to the accompanying drawings which form a part thereof, and which illustrate several examples of the present disclosure. It is understood that other examples may be utilized and structural and operational changes may be made without departing from the scope of the present disclosure. The use of the same reference symbols in different drawings indicates similar or identical items.
- The following description is presented to enable a person of ordinary skill in the art to make and use the various embodiments. Descriptions of specific devices, techniques, and applications are provided only as examples. Various modifications to the examples described herein will be readily apparent to those of ordinary skill in the art, and the general principles defined herein may be applied to other examples and applications without departing from the spirit and scope of the technology as claimed. Thus, the various embodiments are not intended to be limited to the examples described herein and shown, but are to be accorded the scope consistent with the claims.
- Systems and methods for performing land surveying using RTK engine verification are provided. In one example, a first set of positions of a GNSS receiver may be determined using each of a plurality of RTK engines. If a number of the plurality of RTK engines that produce a fixed solution is greater than or equal to a threshold value, a position of the GNSS receiver may be determined based on at least a portion of the first set of positions. The determined position may then be stored. This process may be repeated any number of times to produce a desired number of stored positions. In response to the number of stored positions being equal to a minimum value, a final position of the GNSS device may be determined based on the stored positions.
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FIG. 1 illustrates an exemplary graphics-aidedgeodesic device 100 viewed from various angles. Graphics-aidedgeodesic device 100 is shown contained withincamera housing 105.Camera housing 105 allows the user to hold graphics-aidedgeodesic device 100 as one would hold a typical camera. In one example, the device may includeGNSS antenna 110 which may receive signals transmitted by a plurality of GNSS satellites and used by graphics-aidedgeodesic device 100 to determine position. In one example, GNSS antenna may receive signals transmitted by at least 4 GNSS satellites. In the example shown byFIG. 1 ,GNSS antenna 110 is located on the top side of graphics-aidedgeodesic device 100. - Graphics-aided
geodesic device 100 may further include a GNSS receiver (not shown) for converting the signal received byGNSS antenna 110 into Earth-based coordinates, for example, World Geodetic System 84 (WGS84), Earth-Centered Earth Fixed (ECEF), local east, north, up coordinates (ENU), and the like. Such receivers are well-known by those of ordinary skill in the art and any such device may be used. - Graphics-aided
geodesic device 100 may further include “measure”button 120 to cause the device to perform a position measurement. In one example, this button may be similar to that of a conventional camera. However, instead of taking a photograph, “measure”button 120 may cause graphics-aidedgeodesic device 100 to perform a position measurement as described in greater detail below. In the example shown byFIG. 1 , “measure”button 120 is located on the top side of graphics-aidedgeodesic device 100. - Graphics-aided
geodesic device 100 may further includedisplay 130 for displaying information to assist the user in positioning the device.Display 130 may be any electronic display such as a projection display, a liquid crystal (LCD) display, light emitting diode (LED) display, a plasma display, and the like. Such display devices are well-known by those of ordinary skill in the art and any such device may be used. In the example shown byFIG. 1 ,display 130 is located on the back side of graphics-aidedgeodesic device 100. - Graphics-aided
geodesic device 100 may further includecamera 140 for recording still images or video. Such recording devices are well-known by those of ordinary skill in the art and any such device may be used. In the example illustrated byFIG. 1 ,camera 140 is located on the bottom side of graphics-aidedgeodesic device 100. A more detailed description of the positioning ofcamera 140 will be provided below with respect toFIGS. 2A-C . In one example,display 130 may be used to display the out put ofcamera 140. Thus, when held upright,display 130 displays a view of the ground located below graphics-aidedgeodesic device 100. - Graphics-aided
geodesic device 100 may further include horizon sensors (not shown) for determining the orientation of the device. The horizon sensors may be any type of horizon sensor, such as an inclinometer, accelerometer, and the like. Such horizon sensors are well-known by those of ordinary skill in the art and any such device may be used. In one example, a representation of the output of the horizon sensors may be displayed usingdisplay 130. A more detailed description ofdisplay 130 is provided below.Horizon sensors FIGS. 2A-2C andFIG. 3 . - The
horizon sensors geodesic device 100, allow a CPU to compensate for errors resulting from the mis-leveling of thegeodesic device 100. A user taking a position measurement may position thegeodesic device 100 so that it is not level with respect to a plane parallel to the horizon. However, the CPU 360 (FIG. 3 ) of thegeodesic device 100, receiving orientation data from thehorizon sensors geodesic device 100 is below an inclination threshold. In this way, the orientation data, indicating the orientation of theGNSS antenna 110, may be used by theCPU 360 to correct for errors in the position data received by theGNSS antenna 360. (The position determination and compensation by theCPU 360 is generally discussed below). For example, ageodesic device 100 may be configured to have an inclination error of 15 degrees. As such, if the inclination of thegeodesic device 100 is between 0 to 15 degrees with respect to a plane parallel to the horizon, theCPU 360 will determine the position of the point of interest. - Furthermore, the
horizon sensors geodesic device 100 with respect to a plane parallel with the horizon may be used to determine when theCPU 360 of thegeodesic device 100 determines the position of a point of interest. Thehorizon sensors geodesic device 100 with respect to a plane parallel to the horizon. TheCPU 360 automatically begins determining the position of a point of interest when the inclination of thegeodesic device 100 enters a predetermined inclination range. TheCPU 360 continues determining position of the point of interest as long as the inclination of thegeodesic device 100 is within the predetermined inclination range. If the inclination is measured to be outside the predetermined inclination range, theCPU 360 suspends determining the position of the point of interest. For example, the user of thegeodesic device 100 may indicate that a position measurement should be taken at an inclination of 0 to 15 degrees from a plane parallel with the horizon. When the user holding thegeodesic device 100 positions the geodesic device at 5 degrees, the position measurement by theCPU 360 starts automatically. Similarly, when the user tilts thegeodesic device 100 so the inclination is no longer within the range of 0 to 15 degrees, theCPU 360 suspends the position measurement. In other words, the user may set a predetermined inclination range at which theCPU 360 will initiate the position measurement. Thus, by measuring the inclination of thegeodesic device 100 during positioning by the user, the position measurement by theCPU 360 starts and stops depending on the positioning and orientation of thegeodesic device 100. In this way, the user does not need to activate the position determination by depressing a start and stop key, for example. Moreover, the user does not need to search for a start or stop button to take a position measurement when environmental conditions, such as bright sunlight and darkness, may make it challenging for the user to find specific soft keys or hard buttons, respectively. - Moreover, if the
horizon sensors CPU 360 deactivates buttons and touch display screen so that they do not respond to user actuation input or inadvertently activated. TheCPU 360 deactivates, or locks, the function of buttons and the touch screen when thehorizon sensors geodesic device 100 is inclined more than a predetermined threshold inclination. In one example, the buttons and display screen of thegeodesic device 100 locks when thehorizon sensors geodesic device 100 is more than 30 degrees. - Graphics-aided
geodesic device 100 may further includedistance sensor 150 to measure a linear distance.Distance sensor 150 may use any range-finding technology, such as sonar, laser, radar, and the like. Such distance sensors are well-known by those of ordinary skill in the art and any such device may be used. In the example illustrated byFIG. 1 ,distance sensor 150 is located on the bottom side of graphics-aidedgeodesic device 100. -
FIGS. 2A-C illustrate exemplary views of graphics-aidedgeodesic device 100 and the orientation of its components from various angles.FIG. 2A shows a side view of graphics-aidedgeodesic device 100 witharrows FIG. 2B shows graphics-aidedgeodesic device 100 viewed from the back witharrows FIG. 2C shows a bottom view of graphics-aidedgeodesic device 100 witharrows - In the examples illustrated by
FIGS. 2A-C ,camera housing 105 containsantenna 110,horizon sensors distance sensor 150, andcamera 140. The orientation of the components will be described herein with the use of vectors which indicate a direction in space. For instance,antenna 110 has an antenna ground plane defined byantenna phase center 211 and twoground plane vectors ground plane vectors Camera 140 hasoptical center 241 located along cameraoptical axis 242. Cameraoptical axis 242 passes throughantenna phase center 211 and is orthogonal or substantially orthogonal toground plane vectors Distance sensor 150 has distance sensor main axis (measuring direction) 251 which is parallel or substantially parallel to cameraoptical axis 242.Horizon sensors orthogonal measurement vectors ground plane vectors geodesic device 100 may not be positioned exactly as described above. For instance, due to manufacturing imperfections, the orientations of certain components may not be parallel or orthogonal to the other components as designed. The tolerances for the orientations of the various components depend on the desired precision of the resulting position measurement. -
FIG. 3 illustrates an exemplary logic diagram showing the relationships between the various components of graphics-aidedgeodesic device 100. In one example,GNSS antenna 110 may send position data received from GNSS satellites toGNSS receiver 315.GNSS receiver 315 may convert the received GNSS satellite signals into Earth-based coordinates, such as WGS84, ECEF, ENU, and the like.GNSS receiver 315 may further send the coordinates toCPU 360 for processing along with distance data fromdistance sensor 150, pitch data frompitch horizon sensor 215, roll data fromroll horizon sensor 216, a measure command from “measure”button 120, and image data fromvideo camera 140.CPU 360 processes the data as will be described in greater detail below and provides display data to be displayed ondisplay 130. The GNSS receiver may also include one or more communication interfaces (not shown) as discussed in detail below. These communication interfaces may be used to transmit and receive position data, correction signals, and other data. -
FIG. 4 illustrates anexemplary view 400 ofdisplay 130 for positioning graphics-aidedgeodesic device 100. In one example,display 130 may display the output ofcamera 140. In this example, the display of the output ofcamera 140 includes point ofinterest marker 440. As shown inFIG. 4 , point ofinterest marker 440 is a small circular object identifying a particular location on the ground. In the examples provided herein, we assume that the location to be measured is located on the ground and that the point of interest is identifiable by a visible marker (e.g., point of interest marker 440). The marker may be any object having a small height value. For instance, an “X” painted on ground or a circular piece of colored paper placed on the point of interest may serve as point ofinterest marker 440. - In another example,
display 130 may further include virtuallinear bubble levels geodesic device 100, respectively. Virtuallinear bubble levels virtual bubbles geodesic device 100. Virtuallinear bubble levels virtual bubbles CPU 360 and overlaid on the actual image output ofcamera 140. In one example, positioning ofvirtual bubbles linear bubble levels - In one example, data from
horizon sensors linear bubble levels horizon sensors CPU 360 which may convert a scaled sensor measurement into a bubble coordinate within virtuallinear bubble levels CPU 360 may then cause the display ondisplay 130 ofvirtual bubbles linear bubble levels linear bubble levels virtual bubbles geodesic device 400. For example, if graphics-aidedgeodesic device 100 is tilted forward,bubble 420 may move downwards within virtuallinear bubble level 420. Additionally, if graphics-aidedgeodesic device 100 is rolled to the left,virtual bubble 411 may move to the right within virtuallinear bubble level 410. However, since virtuallinear bubble levels CPU 360, movement ofvirtual bubbles geodesic device 100. - In another example,
display 130 may further includeplanar bubble level 425.Planar bubble level 425 represents a combination of virtuallinear bubble levels 410 and 420 (e.g., placed at the intersection of the bubbles within the linear levels) and may be generated by combining measurements of two orthogonal horizon sensors (e.g.,horizon sensors 215 and 216). For instance, scaled measurements ofhorizon sensors CPU 360 into X and Y coordinates ondisplay 130. In one example, measurements fromhorizon sensor 215 may be used to generate the X coordinate and measurements fromhorizon sensor 216 may be used to generate the Y coordinate ofplanar bubble level 425. - As shown in
FIG. 4 ,display 130 may further includecentral crosshair 450. In one example,central crosshair 450 may be placed in the center ofdisplay 130. In another example, the location ofcentral crosshair 450 may represent the point indisplay 130 corresponding to the view ofcamera 140 alongoptical axis 242. In yet another example, placement ofplanar bubble level 425 withincentral crosshair 450 may correspond to graphics-aidedgeodesic device 100 being positioned horizontally.Central crosshair 450 may be drawn on the screen ofdisplay 130 or may be electronically displayed to display 130. -
Display 130 may be used to aid the user in positioning graphics-aidedgeodesic device 100 over a point of interest by providing feedback regarding the placement and orientation of the device. For instance, the camera output portion ofdisplay 130 provides information to the user regarding the placement of graphics-aidedgeodesic device 100 with respect to objects on the ground. Additionally, virtuallinear bubble levels geodesic device 100 with respect to the horizon. Using at least one of the two types of output displayed ondisplay 130, the user may properly position graphics-aidedgeodesic device 100 without the use of external positioning equipment. - In the example illustrated by
FIG. 4 , both point ofinterest marker 440 andplanar bubble level 425 are shown as off-center fromcentral crosshair 450. This indicates thatoptical axis 242 ofcamera 140 is not pointed directly at the point of interest and that the device is not positioned horizontally. If the user wishes to position the device horizontally above a particular point on the ground, the user must center bothplanar bubble level 425 and point ofinterest marker 440 withincentral crosshair 450 as shown inFIG. 5 . -
FIG. 5 illustrates anotherexemplary view 500 ofdisplay 130. In this example, virtuallinear bubble levels planar bubble level 425 is also centered withincentral crosshair 450. Additionally, in this example, point ofinterest marker 440 is shown as centered withincentral crosshair 450. This indicates thatoptical axis 242 ofcamera 140 is pointing towards point ofinterest marker 440. Thus, in the example shown byFIG. 5 , graphics-aidedgeodesic device 100 is positioned horizontally above point ofinterest marker 440. - As discussed above with respect to
FIG. 2 ,antenna phase center 211 may be located alongoptical axis 242. This means that in the example shown byFIG. 5 ,antenna phase center 211 is also located directly above point ofinterest marker 440. Thus, the only difference between the position ofantenna phase center 211 and point ofinterest marker 440 is a vertical component equal to the vertical distance between point ofinterest marker 440 andantenna phase center 211. In this example, the position of point ofinterest marker 440 may be calculated using the following equation: -
{right arrow over (P)} x ={right arrow over (P)} dev −{right arrow over (n)}(D in +D out) (1) - {right arrow over (P)}x—Calculated position of the point of interest.
- {right arrow over (P)}dev—Measured GNSS position of the device antenna phase center.
- {right arrow over (n)}—Unit vector orthogonal to the ground.
- Din—Vertical distance between
antenna phase center 211 and the zero measurement point ofdistance sensor 150. - Dout—Distance measured by
distance sensor 150 from the sensor's zero measurement point to an object along distance sensormain axis 251. - As shown above, {right arrow over (P)}x of equation (1) represents the calculated position of the point of interest. {right arrow over (P)}dev represents the position of
antenna phase center 211 determined by graphics-aidedgeodesic device 100. {right arrow over (n)} represents a unit vector pointing in a direction orthogonal to the ground. Din represents the vertical distance betweenantenna phase center 211 and the zero measurement point ofdistance sensor 150. The zero measurement point ofdistance sensor 150 is the point in space for whichdistance sensor 150 is configured to return a zero value and may be located either inside or outside of graphics-aidedgeodesic device 100. Thus, Din is a constant value that is specific to each graphics-aidedgeodesic device 100. Finally, Dout represents the distance measured bydistance sensor 150 from the sensor's zero measurement point to an object along distance sensormain axis 251. Therefore, {right arrow over (P)}x is calculated by taking the position measured by graphics-aidedgeodesic device 100 and subtracting a vertical distance equal to the distance measured bydistance sensor 150 plus the distance betweenantenna phase center 211 and the zero measurement point ofdistance sensor 150. - It should be appreciated that the coordinates used in equation (1) may be expressed in any coordinate system. For example, the above described equation may be applicable to any Cartesian coordinate system and the measurement results may be converted to any Earth-based coordinates, such as WGS84, ECEF, ENU, and the like. Such conversion methods are well-known by those of ordinary skill in the art.
- A more detailed description of determining a position based on signals from GNSS satellites and base stations is available in U.S. patent application Ser. No. 12/070,333, filed Feb. 15, 2008, published as U.S. Patent Publication No. 2008/0208454 and Ser. No. 12/360,808, filed Jan. 27, 2009, published as U.S. Patent Publication No. 2009/0189804 assigned to the assignee of the present invention, and each of which are incorporated herein by reference in their entirety for all purposes.
- Sometimes a position of a point cannot be determined with direct GNSS measurements from that point. The point may be inaccessible, have no access to GNSS signals, or may be a feature on an object where a GNSS device cannot be setup. In these circumstances, the exemplary process described below may be used with a GNSS device, such as graphics-aided
geodesic device 100, to determine the position of the point based on a series of images containing the point captured from various known points. -
FIG. 6 illustrates anexemplary process 600 for determining a position (e.g., x-y coordinates, x-y-z coordinates, latitude-longitude, latitude-longitude-altitude, etc.) of an unknown point using, for example, graphics-aided geodesic device 100 (FIG. 1 ). By taking at least three images of the unknown point from three known points, an accurate position of the unknown point may be determined if each image includes one of the known points in addition to the unknown point. This process is further described below with respect toFIGS. 7-10 . Accuracy may be improved further if each of the know points is indicated by a physical marker in the images. - At block 602 graphics-aided
geodesic device 100 determines the position of a first point (e.g., by using received GNSS signals) and captures an image of the unknown point and at least one of either the second point or the third point. For example,FIG. 7 depictsunknown point 700,first point 702,second point 704, andthird point 706. InFIG. 8 , an image sensor, having field ofview 800, of graphics-aided geodesic device 100 (not shown) captures an image fromfirst point 702 that includesunknown point 700 andsecond point 704. The position of the first point may be associated with or stored within the first image captured from the first point using, for example, metadata of the image. - At block 604 graphics-aided
geodesic device 100 determines the position of the second point (e.g., by again using received GNSS signals) and captures an image of the unknown point and at least one of the first point or the third point. For example, inFIG. 9 , the image sensor, which has field ofview 800, of graphics-aided geodesic device 100 (not shown) captures an image fromsecond point 704 that includesunknown point 700 andthird point 706. The position of the second point may be associated with or stored within the second image captured from the first point using, for example, metadata of the image. - At block 606 graphics-aided
geodesic device 100 determines the position of the third point (e.g., by again using received GNSS signals) and captures an image of the unknown point and at least one of the first point or the second point. For example, inFIG. 10 , the image sensor, which has field ofview 800, of graphics-aided geodesic device 100 (not shown) captures an image fromsecond point 704 that includesunknown point 700 andsecond point 704. The position of the third point may be associated with or stored within the third image captured from the first point using, for example, metadata of the image. - At block 608 graphics-aided
geodesic device 100 or a computer calculates the position of the unknown point based on the positions of the first, second, and third points and the images captured from the first, second, and third points. This calculation may be performed with, for example, a photogrammetric algorithm. - To improve accuracy of the calculated position of the unknown point, a marker may be placed at the first, second, or third points (or any combination of these points). The marker may be a flag, paint, a stake, or any other object that allows the first, second or third point to be identified in the images.
- While the above process was described with respect to graphics-aided
geodesic device 100, other geodesic devices may also be used. For example, a geodesic device without an image sensor could be used if the geodesic device is paired with an external image sensor. - RTK productivity typically improves when the base station is close to the rover. Searching for “integer ambiguity” and having a correct “fixed solution” may become more reliable, faster, and accurate. These improvements may be greater in areas with foliage, multipath, and obstructed satellites. RTN and VRS systems provide a “virtual” base station near you, but this does not mean that the “virtual” base station is a “real” base station that eliminates the integer ambiguity problem. The difficulties of obtaining a fixed solution is still related to the nearest actual base station to your location. There are two problems with depending on your own base station near your rover working area. The following are explanations of both and solutions:
- First is the financial investment in an additional receiver. In fact, having a separate base station can be less costly, because it eliminates the need to pay for RTN services and communication costs. Another financial benefit is that productivity increases and more points per hour can be gathered: get a fixed solution and collect a point in seconds rather than minutes, particularly in difficult areas. Also, it eliminates the need to re-observe a point.
- Second, the user may not have a known point to set the base station on, or lack confidence in the coordinates of the point. Using a verified base (VB) addresses this problem. The embodiments of the invention may implement a VB reliably and automatically. The results of using a VB RTK system may outperform RTN/VRS systems because in those system the nearest actual “real” base station is often many miles away, while a user can set up a base station near the RTK work area, usually less than a mile away.
- In a VB RTK system, a GNSS base unit records raw GNSS data at the base station and transmits corrections to a GNSS rover, such as graphics-aided
geodesic device 100. Once position data for a set of points is collected, the user returns to the GNSS base unit and retrieves the raw GNSS data from the GNSS base unit. The raw GNSS data can then be processed against correction data (e.g., NGS CORS data) to produce a corrected position of the GNSS base unit. The position data from the GNSS rover unit is then adjusted according to the corrected position of the GNSS base unit. - A VB RTK system is useful even in situations in which the base was setup on a known point as the corrected position for the GNSS base unit can be compared against the known point coordinates to verify the GNSS base unit position (e.g., setup on the right point, the point had not been damaged, the coordinates were properly entered, the instrument height was correct, etc.).
-
FIG. 11 illustrates anexemplary process 1100 for using a VB RTK system.Process 1100 relies on a GNSS base unit (see incorporated references for details about the base unit) and GNSS rover unit (e.g., graphics-aided geodesic device 100). In some exemplary setups, the GNSS base unit may be a mile or less from the GNSS rover unit to ensure higher position accuracy. - At block 1102 a GNSS base unit transmits a correction signal to a GNSS rover unit. Prior to using the GNSS rover unit to determine a position for a point of the set of points, the user may setup the GNSS base unit at a known point having a known position. The GNSS base unit transmits correction signals to the GNSS rover unit that improves accuracy of the GNSS rover unit's determination of a position of a point. The GNSS base unit may transmit the correction signal wirelessly on a frequency adapted to travel on the order of at least a miles. For example, the GNSS base unit may use a UHF wireless interface to transmit the correction signal. The GNSS base unit may store raw GNSS data that is used to determine the position of the GNSS base unit.
- At block 1104 a GNSS rover unit determines position data for a set of points (e.g., a position for each point in the set of points). The set of points may be pre-defined or the points may be selected as a user moves the GNSS unit around a working area. After receiving the correction signal, the GNSS rover unit may use the correction signal and GNSS satellite signals to determine the position of the point where the GNSS rover unit is located. This process may be repeated for each of the points in the set of points.
- At
block 1106 the raw GNSS data from the GNSS base unit used to determine the point where the GNSS base unit is located may be transmitted to a server system that processes the data to determine a correction to the position. This transmission may be carried out any number of ways. For example, the GNSS base unit may transmit the data directly to the server system using wireless network connections, such as GSM, CDMA, LTE, or WiFi connections. As another example, the GNSS base unit may transfer the data to the GNSS rover unit using Bluetooth, WiFi, SD Cards, USB, or some other form of communication. The GNSS rover may then transmit the raw GNSS data to the server system over a network connection, such as a GSM, CDMA, LTE, or WiFi connection to the Internet. - At
block 1108 the server system returns corrected position data for the position of the GNSS base unit. For example, the server system may process the raw GNSS data with National Geodetic Survey (NGS) Continuously Operating Reference Stations (CORS) data to generate corrected position data. The corrected position data may be, for example, a corrected position of the GNSS base unit or an offset to apply to a previously determined position of the GNSS base unit. The GNSS rover unit receives the corrected position data over, for example, a wireless interface connected to the Internet. - At
block 1110 the GNSS rover unit uses the corrected position data to translate the position data to create translated position data for the set of points. For example, if the corrected position data is an offset for the position of the point where the GNSS base unit is located, that offset may be applied to the determined position of each point in the set of points. As another example, if the corrected position data is a correct position for the point where the GNSS base unit is located, an offset can be calculated and applied to the determined position of each point in the set of points. Before the position data for the set of points is translated using the corrected position data, optionally, the user may be prompted ensure that the position data should be translated. - Correcting the position data of the set of points can be an automated process. For example, blocks 1102, 1106, 1108, and 1110 may be automated to require no or limited user interaction in order to make
process 1100 as seamless as possible for the user. The corrected position data can also be used to verify a user entered position of the GNSS base unit. - As an alternative to translating the position data with the corrected position data after the position data has already been collected, translating may not be needed if the position data accounts for the corrected position data in real-time as the position data is being collected. For example, the GNSS base unit may receive corrected position data or a correction signal on a regular basis from a server system that provides corrected position data that accounts for errors introduced by atmospheric conductions. The GNSS base unit then uses the corrected position data or correction signal to provide a correction signal to the GNSS rover that can be used to account for positions, in real-time, caused by, for example, atmospheric interferenec. As the GNSS rover determines position data for the set of points, the position data already accounts for the errors accounted for in the corrected position data or correction signal, and thus no later translation is needed. As compared to
process 1100, this alternative has the benefit of providing the translated position data in real-time, instead of having to perform the translation process described at a later time. However, this alternative also requires the GNSS base unit or GNSS rover to have data access to the server system, which can be difficult in areas with poor coverage by communications networks. Access to the communications networks may also be prohibitively expensive. - As an alternative to using a GNSS base unit to provide the correction signal above, a correction network can be used instead. In this alternative, a network of reference stations with ranges usually less than 100 km is used. The network stations continuously collect satellite observations and send them to a central processing facility, at which the station observations are processed in a common network where adjustment and observation errors and their corrections are computed. The observation corrections obtained from the network are sent to the GNSS rover, operating within the coverage area of the network stations, to mitigate position errors. This process requires the GNSS rover to transmit its location to the central processing facility so that the central processing facility can determine the appropriate correction signal to send back to the GNSS rover. These two communication channels (i.e., from the rover to the central processing facility and from the central processing facility back to the rover) may beneficially occur using different communication interfaces of the GNSS rover.
- For example, in a GNSS device, such as graphics-aided
geodesic device 100 described inFIGS. 1-5 , that has multiple communication interfaces, the interface the GNSS rover uses to transmit its position to the central processing facility may be different than the interface the GNSS rover uses to receive the correction signal from the central processing facility. The two interfaces can be chosen based on characteristics of the communications using the interface, such as cost, service area, bandwidth, and latency. The characteristics of the transmission to the central processing facility and the transmission of the correction signal to the GNSS rover may also be considered, such as size of the transmissions and how often the transmissions are made. - In one example, the GNSS rover transmits its position to the central processing facility using a terrestrial-based communication network that connects to the Internet, such as a GPRS network using cellular towers. Similar terrestrial-based communication networks could also be used, such as WiFi, WiMax, 3G, 4G, or LTE networks. However, GPRS networks have the advantage of typically having better coverage area. The correction signal may then be transmitted back to the GNSS rover, for example, using one-way satellite communication via a satellite communication network. This arrangement eliminates the need for two-way satellite communications, which can simplify the hardware requirements for the GNSS rover, reduce network service costs, and conserve power. In other words, the GNSS rover in this example would only need an interface that can receive satellite communications signals and would not need to be able to transmit them. This example still provides robust correction signals while minimizing network costs because the communications from the GNSS rover to the central processing facility are rare (e.g., in some cases, occurring every tens of minutes or no more than once every ten minutes). This means that GPRS data costs are low because the more frequently occurring correction signals (e.g., every few seconds or less, or once a second) occur over one-way satellite communications. Accordingly, in this example, by using two different communication interfaces on the GNSS rover, the cost of the communications can be reduced and the GNSS rover communications hardware can be simplified.
- If correction signals are sent more often than every second, (e.g., at 5 Hz) an unexpected increase in productive occurs. Conventional RTK corrections are not sent any faster than 1 Hz because of the general belief that GNSS satellites must move before an additional correction signal is useful. However, when the corrections are sent at frequencies of 5 Hz, for example, an RTK solution is obtained faster (e.g., by resolving ambiguities faster), which has the unexpected benefit of improved productivity. This applies whether the correction signals are sent from a central processing facility of a correction network or from a GNSS base unit. The more frequent RTK corrections may reduce the time to obtain a position of a point. For example, for a correction signal sent once a second, it may take 30 seconds to find a solution in some environments. In contrast, using a correction signal sent five times a second may reduce the time needed for a solution to a few seconds. The increased frequency of the correction signal may be particularly helpful in environments without clear views of the sky, such as under trees or in an area with large buildings that create multipath issues.
- A level, such as a circular bubble level, may be used to verify that a GNSS device is not tilted. The level may be mounted on the GNSS device or mounted in some other way that structurally couples to the GNSS device and indicates whether the GNSS device is tilted in the two-dimensional plane parallel to the ground. For example, the level may be mounted on a support structure, such as a pole, tripod, or trolley, to which the GNSS device is also mounted. In this example, it may be inconvenient for a user to look both at a display to operate the GNSS device and the level to ensure that the GNSS device is not tilted. The display is typically viewable from the side of the GNSS device and the level is typically below the GNSS device on the support structure. This configuration requires the user to focus in two different directions to properly setup and operate the GNSS device. Using an exemplary process described below, a bottom facing image sensor on the GNSS device will automatically focus on the level and capture an image or series of images (i.e., a video stream). The image or images of the level can then be displayed on the display so that the user can operate the GNSS device while continuing to monitor the level for tilt of the GNSS device. This configuration also enables a user to take screen shots to document the level of the GNSS device and to calibrate an electronic level of the GNSS device against the bubble level.
-
FIG. 12 illustrates anexemplary process 1200 for using a level with a GNSS device.Process 1200 relies on a GNSS device (e.g., graphics-aided geodesic device 100) that has an image sensor that can focus on a level that is structurally mounted with the GNSS device so that the level indicates whether the GNSS device is tilted in the two-dimensional plane parallel to the ground. - At
block 1202 the GNSS device focuses an image sensor on a location with a level that indicates a tilt of the GNSS device with respect to the two-dimensional plane parallel to the ground. The level may be structurally mounted with the GNSS device to a support. For example, inFIG. 13 ,GNSS device 1302 andbubble level 1304 are mounted to support pole 1306. The GNSS device may focus the image sensor on the level by capturing an image of a scene that includes the level and then image process the captured image to identify the location of the level. The GNSS device can then focus the image sensor on the location of the level. As an alternative, a user can identify the location of the level in an image or the user can manually focus the image sensor until the level is in focus. - Referring back to
FIG. 12 , atblock 1204 the GNSS device captures an image of a scene that includes the level. For example, with reference toFIG. 13 , an image sensor on the bottom ofGNSS device 1302 may capture an image of the top-down view oflevel 1304. Because of the focusing done inblock 1202, the level should be in focus in the image. It is also possible that instead of a single image, a series of images are captured to form a live stream or live video of the scene containing the level. - Referring to
FIG. 12 again, atblock 1206 the GNSS device displays a portion of the image of the level on a display of the GNSS device, such as display 1308 ofFIG. 13 . For example,FIG. 14 depicts example screen shot 1400 of a display of a GNSS device.Position information 1402 is also displayed on the bottom ofscreen shot 1400. Other position data is displayed aroundscreen shot 1400.Portion 1404 of the image is displayed.Portion 1404 depicts the level as captured by the image sensor. Portion 1406 may be static or dynamic and the result of cropping the image. - Screen shot 1400 may be stored in memory of the GNSS device to document the measurement and setup of the GNSS device.
Portion 1404 may also be used to calibrate an electronic level that is internal to the GNSS device. - In addition the features discussed above, a GNSS device equipped with a camera may also be useful for determining an angle between two points with respect to the point where the GNSS device is located. The image sensor may capture an image of a scene that includes the two points. The image may be displayed on the display of the GNSS device. The user may indicate a first point and second point in the image. The GNSS device may then calculate an angle between the two points based on the field of view of the image sensor and the locations of the two points in the image. The calculated angle may then be displayed on the GNSS display or the image may be tagged, in the metadata for example, with the calculated angle before storing the image in memory of the GNSS device.
- It will be appreciated that, for clarity purposes, the above description has described examples with reference to different functional units and processors. However, it will be apparent that any suitable distribution of functionality between different functional units, processors, or domains may be used. For example, functionality illustrated to be performed by separate processors or controllers may be performed by the same processor or controller. Hence, references to specific functional units are only to be seen as references to suitable means for providing the described functionality, rather than indicative of a strict logical or physical structure or organization.
- Furthermore, although individually listed, a plurality of means, elements, or method steps may be implemented by, for example, a single unit or processor. Additionally, although individual features may be included in different claims, these may possibly be advantageously combined, and the inclusion in different claims does not imply that a combination of features is not feasible or advantageous. Also, the inclusion of a feature in one category of claims does not imply a limitation to this category, but rather the feature may be equally applicable to other claim categories, as appropriate.
- Although a feature may appear to be described in connection with a particular embodiment, one skilled in the art would recognize that various features of the described embodiments may be combined. Moreover, aspects described in connection with an embodiment may stand alone.
Claims (20)
1. A method for determining positions for a set of points using a GNSS rover unit, the method comprising:
(a) receiving a correction signal from a GNSS base unit, wherein the GNSS base unit is located at a fixed point;
(b) using the correction signal to determine a position of a point of the set of points;
(c) storing the position in memory of the GNSS rover unit as position data;
(d) repeating steps (a)-(c) for each point in the set of points;
(e) transmitting raw GNSS data of the GNSS base unit to a server system;
(f) receiving, from the server system, a corrected position of the GNSS base unit based on the raw GNSS data;
(g) translating the position data based on the corrected position of the GNSS base unit to produce adjusted position data.
2. The method of claim 1 further comprising:
(h) receiving the raw GNSS data of the GNSS base unit at the GNSS rover unit, wherein the transmitting raw GNSS data of the GNSS base unit to the server system is performed by the GNSS rover unit.
3. The method of claim 1 further comprising:
(i) verifying a position of the GNSS base unit with the corrected position of the GNSS base unit.
4. The method of claim 1 , wherein steps (e)-(g) are done automatically in response to a user command.
5. The method of claim 1 , wherein steps (e)-(h) are done automatically in response to a user command.
6. The method of claim 1 , wherein the correction signal is received at the GNSS rover unit over a first wireless interface.
7. The method of claim 6 , wherein the raw GNSS data of the GNSS base unit is received at the GNSS rover unit over a second wireless interface different from the first wireless interface.
8. The method of claim 7 , wherein the raw GNSS data of the GNSS base unit is transmitted to the server system over a third wireless interface.
9. The method of claim 6 , wherein the raw GNSS data of the GNSS base unit is received at the GNSS rover unit over a second wireless interface different than the first wireless interface.
10. The method of claim 6 , wherein the raw GNSS data of the GNSS base unit is transmitted to the server system over a third wireless interface different than the first wireless interface.
11. The method of claim 1 further comprising:
(j) receiving the position of the GNSS base unit from a user.
12. A non-transitory computer-readable storage medium storing computer executable instructions for:
(a) receiving a correction signal from a GNSS base unit, wherein the GNSS base unit is located at a fixed point;
(b) using the correction signal to determine a position of a point of the set of points;
(c) storing the position in memory of the GNSS rover unit as position data;
(d) repeating steps (a)-(c) for each point in the set of points;
(e) transmitting raw GNSS data of the GNSS base unit to a server system;
(f) receiving a corrected position of the GNSS base unit from the server system;
(g) translating the position data based on the corrected position of the GNSS base unit to produce adjusted position data.
13. A GNSS device for determining positions of a set of points, the GNSS device comprising:
a display configured to display position data based on GNSS signals;
a user interface configured to receive user input;
a processor configured to execute instructions; and
memory containing instructions executable on the processor, the instructions including instructions for:
(a) receiving a correction signal from a GNSS base unit, wherein the GNSS base unit is located at a fixed point;
(b) using the correction signal to determine a position of a point of the set of points;
(c) storing the position in memory of the GNSS device as position data;
(d) repeating steps (a)-(c) for each point in the set of points;
(e) transmitting raw GNSS data of the GNSS base unit to a server system;
(f) receiving a corrected position of the GNSS base unit from the server system;
(g) translating the position data based on the corrected position of the GNSS base unit to produce adjusted position data.
14. The GNSS device of claim 13 further comprising:
a first wireless interface, wherein the instructions further include instructions for:
(h) receiving the raw GNSS data of the GNSS base unit at the GNSS device, wherein the transmitting raw GNSS data of the GNSS base unit to the server system is performed by the GNSS rover unit using the first wireless interface.
15. The GNSS device of claim 13 , wherein, the instructions further include instructions for:
(i) verifying a position of the GNSS base unit with the corrected position of the GNSS base unit.
16. The GNSS device of claim 13 , wherein the instructions (e)-(g) are configured to be done automatically in response to a user command received on the user interface.
17. The GNSS device of claim 13 , wherein the instructions (e)-(h) are done automatically in response to a user command received on the user interface.
18. The GNSS device of claim 13 , further comprising:
a first wireless interface configured to receive the correction signal.
19. The GNSS device of claim 18 , further comprising:
a second wireless interface different than the first wireless interface configured to receive the raw GNSS data of the GNSS base unit.
20. The GNSS device of claim 13 , wherein the instructions further include instructions for:
(j) receiving the position of the GNSS base unit from a user.
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Also Published As
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US20160178368A1 (en) | 2016-06-23 |
US20160178369A1 (en) | 2016-06-23 |
US10613231B2 (en) | 2020-04-07 |
US10338228B2 (en) | 2019-07-02 |
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