Position determination system using radio and laser in combination

• US 20080247758A1
• Filed: 04/04/2007
• Published: 10/09/2008
• Est. Priority Date: 04/04/2007
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Nichols, Mark E.
• Granted Patent: US 7,768,450 B2
• Time in Patent Office: Days
• US Class Current: 398/115
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/12 wherein the cooperating elements are telecommunication base stations
• CPC Class Codes: G01S 19/46 the supplementary measurement being of a radio-wave signal type
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A combined radio and laser positioning system comprising: a network of ground based radio communication devices, a laser transmitter configured to generate at least one laser beam, and at least one user unit. Each user unit comprises a radio receiver configured to receive at least one ranging radio signal transmitted by at least one ground based radio communication device, a laser detector configured to receive at least one laser beam generated by the laser transmitter, and a processor configured to convert a set of data including: {a set of data transmitted by at least one ranging radio signal, and a set of data transmitted by said at least one laser beam} into position coordinates of the user unit, wherein a set of vertical coordinates of the user unit is obtained with a laser-assisted (LA) accuracy.

Claims

1. A combined radio and laser positioning system comprising:

a network of ground based radio communication devices;

a laser transmitter configured to generate at least one laser beam;

and

at least one user unit;

each said user unit comprising;

a radio receiver configured to receive at least one ranging radio signal transmitted by said at least one ground based radio communication device;

a laser detector configured to receive said at least one laser beam generated by said laser transmitter;

and

a processor configured to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal, and a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy.

2. The system of claim 1, wherein said at least one ground based radio communication device further comprises:

a ground based radio transceiver placed in a location with known coordinates.

3. The system of claim 1, wherein said at least one ground based radio communication device further comprises:

a stationary radio positioning system (RADPS) receiver integrated with a ground based radio transmitter, wherein position coordinates of said ground based radio transmitter are determined by using a plurality of radio signals transmitted by at least one radio source selected from the group consisting of;

{GPS;

GLONASS;

combined GPS/GLONASS;

GALILEO;

Global Navigational Satellite System (GNSS);

pseudolite transmitter;

pseudolite transceiver;

TV transmitter;

UWB transmitter;

Bluetooth transmitter;

Wi-Fi transmitter;

terrestrially based positioning technologies using mobile phone signals (E-OTD or TDOA);

Locata transmitter; and

Locata transceiver}.

4. The system of claim 1, wherein said network of ground based radio communication devices further comprises:

at least four synchronized ground based radio transceivers; and

wherein said network of at least four synchronized ground based radio transceivers provides 3-D solution for position coordinates of each said mobile unit.

5. The system of claim 1, wherein said network of ground based radio communication devices further comprises:

at least four synchronized ground based radio transceivers having a substantially weak vertical geometry; and

wherein said network of at least four synchronized ground based radio transceivers provides 3-D solution for position coordinates of each said mobile unit; and

wherein said 3-D solution has a substantially low vertical accuracy.

6. The system of claim 1, wherein said network of ground based radio communication devices further comprises:

at least three synchronized ground based radio transceivers; and

wherein said network of at least three synchronized ground based radio transceivers provides 2-D solution for horizontal position coordinates of each said mobile unit.

7. The system of claim 1, wherein said network of ground based radio communication devices further comprises:

at least three ground based radio transceivers with an external synchronization signal; and

wherein said network of at least three ground based radio receivers provides 3-D solution for position coordinates of each said mobile unit.

8. The system of claim 1, wherein said network of ground based radio communication devices further comprises:

at least two ground based radio transceivers with an external synchronization signal; and

wherein said network of at least two ground based radio receivers provides 2-D solution for horizontal position coordinates of each said mobile unit.

9. The system of claim 1, wherein said network of ground based radio communication devices further comprises:

a single ground based radio transceiver with an external synchronization signal; and

wherein said single ground based radio transceiver provides a single distance coordinate from said single ground based radio transceiver to each said mobile unit.

10. The system of claim 1, wherein said laser transmitter further comprises:

a laser transmitter placed in a location with known coordinates.

11. The system of claim 1, wherein said laser transmitter further comprises:

a laser transmitter placed in a location with unknown coordinates.

12. The system of claim 1, wherein said laser transmitter further comprises:

a self-surveying laser transmitter further comprising;

a stationary radio positioning system (RADPS) receiver integrated with said self-surveying laser transmitter;

said stationary RADPS receiver having a stationary radio antenna, and wherein position coordinates of said laser transmitter are determined by using said stationary RADPS receiver that receives a plurality of radio signals from at least one radio source selected from the group consisting of;

{GPS;

GLONASS;

combined GPS/GLONASS;

GALILEO;

Global Navigational Satellite System (GNSS);

pseudolite transmitter;

TV transmitter;

UWB transmitter;

Bluetooth transmitter;

Wi-Fi transmitter;

terrestrially based positioning technologies using mobile phone signals (E-OTD or TDOA); and

Locata transmitter}.

13. The system of claim 1, wherein said laser transmitter further comprises:

a planar laser configured to generate a reference laser beam providing a vertical coordinate having a substantially high accuracy.

14. The system of claim 1, wherein said laser transmitter further comprises:

a sloping planar laser configured to generate a reference sloping laser beam providing two angular coordinates having a substantially high accuracy.

15. The system of claim 1, wherein said laser transmitter further comprises:

a fan laser configured to generate at least one sloping fan laser beam.

16. The system of claim 1, wherein said laser transmitter further comprises:

a fan laser configured to generate at least two sloping fan laser beams.

17. The system of claim 1, wherein said at least one user unit further comprises:

a wireless communication device configured to transmit the position coordinates of said user unit.

18. The system of claim 17 further comprising:

a wireless communication link;

wherein said wireless communication link is selected from the group consisting of;

{a cellular link;

a radio link;

a private radio band link;

a Site Net 900 private radio network;

a wireless Internet link;

a UWB link;

a Bluetooth link;

a Wi-Fi link; and

a satellite wireless communication link}.

19. The system of claim 1, wherein said at least one user unit further comprises:

a mobile unit further comprising;

an on-board computer configured to utilize said set of positioning data of said mobile unit;

wherein said set of positioning data of said mobile unit is obtained with said laser assisted (LA) vertical accuracy.

20. The system of claim 19, wherein said at least one mobile unit further comprises:

an implement, and wherein said implement of said mobile unit is controlled by utilizing a set of positioning data of said implement, and wherein said set of positioning data of said implement is obtained with said laser assisted (LA) vertical accuracy.

21. The system of claim 19 further comprising:

a Remotely Located Tracking Station (RLTS) configured to utilize said set of positioning data of said mobile unit obtained with said laser assisted (LA) vertical accuracy in order to track said mobile unit.

22. A combined radio and laser positioning system comprising:

a network of ground based radio communication devices;

each said ground based radio communication device configured to transmit at least one ranging radio signal;

and

a laser transmitter configured to generate at least one laser beam;

wherein at least one user unit comprises;

a radio receiver configured to receive at least one ranging radio signal transmitted by said at least one ground based radio communication device;

a laser detector configured to receive said at least one laser beam generated by said laser transmitter; and

a processor configured to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal; and

a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy.

23. A user unit positioning system comprising:

a radio receiver configured to receive at least one ranging radio signal transmitted by at least one ground based radio communication device;

said at least one ground based radio communication device transceiver being a part of a network of ground based radio communication devices;

each said ground based radio communication device configured to transmit at least one ranging radio signal;

a laser detector configured to receive at least one laser beam generated by a laser transmitter;

and

a processor configured to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal; and

a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy.

24. A user unit positioning system comprising:

a radio receiver further comprising;

a radio antenna configured to receive a plurality of ranging radio signals including at least one ranging signal transmitted by at least one ground based radio communication device,

and

a satellite antenna configured to receive at least one ranging satellite radio signal transmitted by at least one GNSS satellite;

a laser detector configured to receive at least one laser beam generated by a laser transmitter;

and

a processor configured to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal;

a set of data transmitted by said at least one ranging satellite radio signal; and

a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy;

wherein each said ground based radio communication device is selected from the group consisting of;

{a pseudolite transmitter;

a pseudolite transceiver;

a TV transmitter;

an UWB transmitter;

a Bluetooth transmitter;

a Wi-Fi transmitter;

terrestrially based positioning technologies using mobile phone signals (E-OTD or TDOA);

a Locata transmitter; and

a Locata transceiver};

and wherein each said GNSS satellite is selected from the group consisting of;

{a GPS satellite;

a GLONASS satellite; and

a GALILEO satellite};

and wherein said laser transmitter is selected from the group consisting of;

{a planar laser transmitter;

a sloping planar laser transmitter; and

a fan laser transmitter}.

25. A method of combined radio and laser positioning comprising:

(A) providing a network of ground based radio communication devices;

(B) providing a laser transmitter configured to generate at least one laser beam;

and

(C) using said network of ground based radio communication devices and using said laser transmitter to obtain position coordinates of at least one user unit with a laser-assisted (LA) accuracy.

26. The method of claim 25, wherein said step (A) further comprises:

(A1) selecting at least one said ground based radio communication device from the group consisting of;

{a pseudolite transmitter;

a pseudolite transceiver;

a TV transmitter;

an UWB transmitter;

a Bluetooth transmitter;

a Wi-Fi transmitter;

terrestrially based positioning technologies using mobile phone signals (E-OTD or TDOA);

a Locata transmitter; and

a Locata transceiver}.

27. The method of claim 25, wherein said step (B) further comprises:

(B1) selecting said laser transmitter from the group consisting of;

{ a planar laser transmitter;

a sloping planar laser transmitter; and

a fan laser transmitter}.

28. The method of claim 25, wherein said at least one user unit further comprises:

a radio receiver, a laser detector, and a processor; and

wherein said step (C) further comprises;

(C1) using said radio receiver to receive at least one ranging radio signal transmitted by said at least one ground based radio communication device;

(C2) using said laser detector to receive said at least one laser beam generated by said laser transmitter;

and

(C3) using said processor to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal; and

a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy.

29. The method of claim 28, wherein said at least one user unit further comprises a wireless communication device;

said method further comprising;

(C4) using said wireless communication device to transmit the position coordinates of said user unit by using a wireless communication link;

wherein said wireless communication link is selected from the group consisting of;

{a cellular link;

a radio link;

a private radio band link;

a Site Net 900 private radio network;

a wireless Internet link;

a UWB link;

a Bluetooth link;

a Wi-Fi link; and

a satellite wireless communication link}.

30. The method of claim 28, wherein said at least one user unit further comprises a mobile unit further comprising an on-board computer;

said method further comprising;

(C5) using said on-board computer to control said user unit by utilizing said set of positioning data of said mobile unit;

wherein said set of positioning data of said mobile unit is obtained with said laser assisted (LA) vertical accuracy.

31. The method of claim 30, wherein said at least one mobile unit further comprises an implement, said method further comprising:

(C6) using said on-board computer to control said implement by utilizing a set of positioning data of said implement, wherein said set of positioning data of said implement is obtained with said laser assisted (LA) vertical accuracy.

32. The method of claim 28, wherein said at least one user unit further comprises a mobile unit further comprising an on-board computer;

said method further comprising;

(C7) manually controlling said mobile unit by using said set of positioning data of said mobile unit provided by said on-board computer;

wherein said set of positioning data of said mobile unit is obtained with said laser assisted (LA) vertical accuracy.

33. The method of claim 30, wherein said at least one mobile unit further comprises an implement, said method further comprising:

(C8) manually controlling said implement by using said set of positioning data of said implement provided by said on-board computer;

wherein said set of positioning data of said implement is obtained with said laser assisted (LA) vertical accuracy.

34. A method of combined radio and laser positioning comprising:

(A) providing a network of ground based radio communication devices;

each said ground based radio communication device configured to transmit at least one ranging radio signal to at least one user unit;

and

(B) providing a laser transmitter configured to generate and to transmit at least one laser beam to said at least one user unit;

wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy.

35. A method of user unit positioning comprising:

(A) using a radio receiver to receive at least one ranging radio signal transmitted by at least one ground based radio communication device;

said at least one ground based radio communication device transceiver being a part of a network of ground based radio communication devices;

each said ground based radio communication device configured to transmit at least one ranging radio signal;

(B) using a laser detector to receive at least one laser beam generated by a laser transmitter;

and

(C) using a processor to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal; and

a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy.

36. A method of user unit positioning comprising:

(A) using a radio receiver to receive at least one ranging radio signal transmitted by at least one ground based radio communication device;

(B) using said radio receiver to receive at least one ranging satellite radio signal transmitted by at least one GNSS satellite;

(C) using a laser detector to receive at least one laser beam generated by a laser transmitter;

and

(D) using a processor to convert a set of data including;

{a set of data transmitted by said at least one ranging radio signal;

a set of data transmitted by said at least one ranging satellite radio signal; and

a set of data transmitted by said at least one laser beam} into position coordinates of said user unit, wherein a set of vertical coordinates of said user unit is obtained with a laser-assisted (LA) accuracy;

wherein each said ground based radio communication device is selected from the group consisting of;

{a pseudolite transmitter;

a pseudolite transceiver;

a TV transmitter;

an UWB transmitter;

a Bluetooth transmitter;

a Wi-Fi transmitter;

terrestrially based positioning technologies using mobile phone signals (E-OTD or TDOA);

a Locata transmitter; and

a Locata transceiver};

and wherein each said GNSS satellite is selected from the group consisting of;

{a GPS satellite;

a GLONASS satellite; and

a GALILEO satellite};

and wherein said laser transmitter is selected from the group consisting of;

{a planar laser transmitter;

a sloping planar laser transmitter; and

a fan laser transmitter}.