Systems and methods of correlating satellite position data with terrestrial features
First Claim
1. A method of correlating satellite position data with terrestrial features, the locations of the terrestrial features being given by terrestrial survey data, comprising:
- using a geometric snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the terrestrial features;
determining whether the satellite position data can be snapped to unique terrestrial features; and
using a hybrid space-time snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the unique terrestrial features when the satellite position data cannot be snapped to the unique terrestrial features,wherein said using the geometric snapping algorithm comprises;
defining a two-dimensional grid comprising a plurality of grid points at defined locations;
for a plurality of locations (x, y) defined by the satellite position data, rounding the satellite position data to the nearest grid point of the defined two-dimensional grid to create an amplitude data table, each rounded satellite position data point in the amplitude data table defining a reference grid point value (gx, gy);
for a plurality of locations (rx, ry) of the terrestrial features given by the terrestrial survey data, matching the terrestrial survey data to at least four adjacent grid points (gx1, gy1), (gx2, gy2), (gx3, gy3), and (gx4, gy4) of the defined two-dimensional grid to create a terrestrial coordinate table;
merging the amplitude data table and the terrestrial coordinate table based on the reference grid point values (gx, gy) to form a merged table;
searching the merged table to identify the grid point with the minimum distance between the (x,y) location and the (rx, ry) location, the identified grid point comprising a snapping point; and
snapping the (x,y) location to the snapping point.
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Abstract
A method of correlating satellite position data with terrestrial features may include: Using a geometric snapping algorithm to correlate the satellite position data and terrestrial survey data and snap the satellite position data to the terrestrial features; determining whether the satellite position data can be snapped to unique terrestrial features; and using a hybrid space-time snapping algorithm to correlate the satellite position data and terrestrial survey data and snap the satellite position data to unique terrestrial features when the satellite position data cannot be snapped to unique terrestrial features.
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Citations
23 Claims
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1. A method of correlating satellite position data with terrestrial features, the locations of the terrestrial features being given by terrestrial survey data, comprising:
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using a geometric snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the terrestrial features; determining whether the satellite position data can be snapped to unique terrestrial features; and using a hybrid space-time snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the unique terrestrial features when the satellite position data cannot be snapped to the unique terrestrial features, wherein said using the geometric snapping algorithm comprises; defining a two-dimensional grid comprising a plurality of grid points at defined locations; for a plurality of locations (x, y) defined by the satellite position data, rounding the satellite position data to the nearest grid point of the defined two-dimensional grid to create an amplitude data table, each rounded satellite position data point in the amplitude data table defining a reference grid point value (gx, gy); for a plurality of locations (rx, ry) of the terrestrial features given by the terrestrial survey data, matching the terrestrial survey data to at least four adjacent grid points (gx1, gy1), (gx2, gy2), (gx3, gy3), and (gx4, gy4) of the defined two-dimensional grid to create a terrestrial coordinate table; merging the amplitude data table and the terrestrial coordinate table based on the reference grid point values (gx, gy) to form a merged table; searching the merged table to identify the grid point with the minimum distance between the (x,y) location and the (rx, ry) location, the identified grid point comprising a snapping point; and snapping the (x,y) location to the snapping point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of correlating satellite position data with terrestrial features, the locations of the terrestrial features being given by terrestrial survey data, wherein the terrestrial features comprise a plurality of trails and wherein the satellite position data comprises data collected over time as a vehicle traverses at least one trail, comprising:
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using a geometric snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the terrestrial features; determining whether the satellite position data can be snapped to unique terrestrial features; and using a hybrid space-time snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the unique terrestrial features when the satellite position data cannot be snapped to the unique terrestrial features, wherein said using the hybrid space-time snapping algorithm comprises using a spatial-temporal score to snap the satellite position data to the trail actually traversed by the vehicle, wherein said using the spatial-temporal score comprises determining each of a spatial-proximity value, a spatial-evenness value, and a temporal-evenness value, and wherein the spatial-proximity value (SPV) is given by the following equation;
SPV=exp(−
½
*(average error distance/30)2). - View Dependent Claims (18, 19, 20)
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21. A method of correlating satellite position data with terrestrial features, the locations of the terrestrial features being given by terrestrial survey data, wherein the terrestrial features comprise a plurality of trails and wherein the satellite position data comprises data collected over time as a vehicle traverses at least one trail, comprising:
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using a geometric snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the terrestrial features; determining whether the satellite position data can be snapped to unique terrestrial features; and using a hybrid space-time snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the unique terrestrial features when the satellite position data cannot be snapped to the unique terrestrial features, wherein said using the hybrid space-time snapping algorithm comprises using a spatial-temporal score to snap the satellite position data to the trail actually traversed by the vehicle, wherein said using the spatial-temporal score comprises determining each of a spatial-proximity value, a spatial-evenness value, and a temporal-evenness value, and wherein said using the spatial-temporal score comprises determining the third root of the product of the spatial-proximity value, the spatial-evenness value, and the temporal-evenness value.
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22. A non-transitory computer-readable storage medium having computer-executable instructions embodied thereon that, when executed by at least one computer processor cause the processor to:
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use a geometric snapping algorithm to correlate satellite position data and terrestrial survey data and snap the satellite position data to terrestrial features, wherein the geometric snapping algorithm; defines a two-dimensional grid comprising a plurality of grid points at defined locations; for a plurality of locations (x, y) defined by the satellite position data, rounds the satellite position data to the nearest grid point of the defined two-dimensional grid to create an amplitude data table, each rounded satellite position data point in the amplitude data table defining a reference grid point value (gx, gy); for a plurality of locations (rx, ry) of the terrestrial features given by the terrestrial survey data, matches the terrestrial survey data to at least four adjacent grid points (gx1, gy1), (gx2, gy2), (gx3, gy3), and (gx4, gy4) of the defined two-dimensional grid to create a terrestrial coordinate table; merges the amplitude data table and the terrestrial coordinate table based on the reference grid point values (gx, gy) to form a merged table; searches the merged table to identify the grid point with the minimum distance between the (x, y) location and the (rx, ry) location, the identified grid point comprising a snapping point; and snaps the (x,y) location to the snapping point; determine whether the satellite position data can be snapped to unique terrestrial features; and use a hybrid space-time snapping algorithm to correlate the satellite position data and the terrestrial survey data and snap the satellite position data to the unique terrestrial features when the satellite position data cannot be snapped to the unique terrestrial features.
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23. A position correlation system, comprising:
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a computer processor; a terrestrial survey database operatively associated with said computer processor, said terrestrial survey database comprising terrestrial survey data associated with terrestrial features in a defined operations area; a satellite position database operatively associated with said computer processor, said satellite position database comprising satellite position data associated with movement of at least one object within the defined operations area; a user interface operatively associated with said computer processor, said user interface allowing a user to interface with said computer processor; a geometric snapping algorithm operatively associated with said computer processor, said geometric snapping algorithm correlating the satellite position data and the terrestrial survey data and snapping the satellite position data to the terrestrial features, said correlating and said snapping further comprising; defining a two-dimensional grid comprising a plurality of grid points at defined locations; for a plurality of locations (x, y) defined by the satellite position data, rounding the satellite position data to the nearest grid point of the defined two-dimensional grid to create an amplitude data table, each rounded satellite position data point in the amplitude data table defining a reference grid point value (gx, gy); for a plurality of locations (rx, ry) of the terrestrial features given by the terrestrial survey data, matching the terrestrial survey data to at least four adjacent grid points (gx1, gy1), (gx2, gy2), (gx3, gy3), and (gx4, gy4) of the defined two-dimensional grid to create a terrestrial coordinate table; merging the amplitude data table and the terrestrial coordinate table based on the reference grid point values (gx, gy) to form a merged table; searching the merged table to identify the grid point with the minimum distance between the (x,y) location and the (rx, ry) location, the identified grid point comprising a snapping point; and snapping the (x,y) location to the snapping point; and a hybrid space-time snapping algorithm operatively associated with said computer processor, said hybrid space-time snapping algorithm correlating the satellite position data and the terrestrial survey data and snapping the satellite position data to unique terrestrial features, said computer processor utilizing said geometric snapping algorithm and said hybrid space-time snapping algorithm to correlate the satellite position data and the terrestrial position data, said computer processor further utilizing said hybrid space-time snapping algorithm when the satellite position data cannot otherwise be snapped to the unique terrestrial features, said computer processor producing output data relating to the snapped satellite position data and transferring the output data to the user interface.
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Specification