AINS enhanced survey instrument

• US 20090024325A1
• Filed: 07/19/2007
• Published: 01/22/2009
• Est. Priority Date: 07/19/2007
• Status: Abandoned Application

• Current Assignee: Applanix Corp. (Trimble Inc.)
• Original Assignee: Applanix Corp. (Trimble Inc.)
• Inventors: Scherzinger, Bruno M.
• Application Number:
  US11/879,941
• Publication Number:
  US 20090024325A1
• Time in Patent Office: Days
• US Class Current: 702/5
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning

Abstract

The invention comprises a survey pole having a survey pole bottom end, with a position-transducer coupled to a survey pole top end. A ground contact spike is on the bottom end. The survey pole uses an AINS as a combined tilt and heading sensor. The AINS provides heading and Euler angle outputs characterizing the tilt of the survey pole. The heading and Euler angle outputs are used by a computer and program to perform position transfers from a position-transducer at the pole top end to the GCZVI switch or spike on the ground using a set of position offset or transfer equations. The position-transducer is either a GNSS or an RTS serving as a position-transducer. The transfer of the position data from the position of the position-transducer provides the earth referenced or grid referenced position of the spike at the survey pole survey bottom end.

Claims

1. An aided inertial navigation system (AINS) enhanced precision land survey instrument comprising:

a survey pole having a survey pole top end and a survey pole bottom end,

a position-transducer fixed to the survey pole at a predetermined location, on the pole, a distance between the position transducer and the survey pole bottom end, the position transducer providing

a sequence of earth referenced position signals that characterize the earth referenced position of the position transducer,

a ground contact zero velocity indicator (GCZVI) switch module coupled to the survey pole bottom end to provide

a zero velocity signal when the survey pole bottom end is in contact with the ground,

an AINS rigidly coupled to the survey pole, the AINS supplying roll, pitch and heading signals of the survey pole with respect to a ground referenced locally level coordinate system that characterize the tilt and heading of the survey pole,

a computer and program means responsive to the roll, pitch and heading signals, the zero velocity signal and the predetermined distance from the position-transducer to the survey pole bottom end for calculating and adding North, East and Down vectors in an earth referenced locally level co-ordinate system leading from the position of the position transducer to the position of the survey pole bottom end to obtain the earth referenced position of the survey pole bottom end when the survey pole bottom end is in contact with the ground.

2. The AINS enhanced precision land survey instrument of claim 1 wherein the position-transducer is a GNSS receiver and antenna characterized to provide the earth referenced position signals characterizing the earth referenced position of the GNSS antenna.

3. The AINS enhanced precision land survey instrument of claim 2 wherein the AINS coupled to the survey pole for supplying roll, pitch and heading signals that characterize the tilt and heading of the survey pole is integrated into a package within the GNSS receiver and antenna at the survey pole top end.

4. The AINS enhanced precision land survey instrument of claim 2 wherein the AINS coupled to the survey pole for supplying roll, pitch and heading signals that characterize the tilt and heading of the survey pole is integrated into a package coupled to the survey pole adjacent to its bottom end.

5. The AINS enhanced precision land survey instrument of claim 2 wherein the GNSS receiver and antenna at the survey pole top end is augmented to employ a precise point positioning algorithm for enhanced accuracy.

6. The AINS enhanced precision land survey instrument of claim 5 wherein the precise point positioning algorithm for enhanced accuracy uses data obtained from a space based augmentation subscription service.

7. The AINS enhanced precision land survey instrument of claim 1 wherein the position-transducer is a reflective prism and data receiver for use with a CTS or an RTS receiver or transponder, each being characterized to provide the measured earth referenced position of the position-transducer based on the known position of the RTS receiver or transponder.

8. The AINS enhanced precision land survey instrument of claim 7 wherein the AINS coupled to the survey pole supplying roll, pitch and heading signals that characterize the tilt and heading of the survey pole is integrated into a package within or adjacent to the GCZVI switch module adjacent to the survey pole bottom end.

9. The AINS enhanced precision land survey instrument of claim 2 wherein the AINS has a position center typically characterized as the intersection of the accelerometer axis, and wherein the program for calculating the earth referenced position of the survey pole bottom end corrects the position of survey pole bottom end for a lever arm distance between the survey pole bottom end and the AINS position center to provide a sequence of corrected positions of the AINS position center, the corrected position of the AINS position center being coupled to the AINS for use by the AINS Kalman filter to continually enhance AINS computed present position for use in response to interruption of position transducer position data, the sequence of computed positions of the survey pole bottom ends being supplied to the AINS Kalman filter to provide continuing updated position data to the AINS enabling the AINS to provide dead reckoning navigational data for uninterrupted performance of the AINS enhanced precision land survey instrument in response to loss of position transducer position data.

10. An AINS enhanced precision land survey instrument systems comprising:

a survey pole having

a survey pole top end and

a survey pole bottom end,

a position-transducer fixed to the survey pole at

a predetermined location, the predetermined location being adjacent the survey pole top end,

the position transducer having a robotic total station retro-reflector (RTSR) for receiving and returning

a laser beam from a robotic total station (RTS) receiver at a known earth based position, the RTS receiver measuring the ground referenced position of the RTSR by measuring the distance, bearing and elevation of the RTSR at the survey pole top end with respect to the known ground position of the RTS receiver from data obtained from the returned laser beam provided by the RTS receiver,

the RTS calculating North, East and Down vectors from the ground referenced locally level position of the RTS to the ground referenced and locally level position of the RTSR and adding the calculated vectors to the earth referenced position of the known position of the RTS to obtain the earth referenced position of the RTSR based on the known earth referenced position of the RTS,

a GCZVI switch coupled to the survey pole bottom end to provide

a zero velocity signal when the survey pole bottom end is in contact with the ground,

the survey pole having a predetermined distance from the position transducer to the survey pole bottom end,

an AINS rigidly coupled to the survey pole, the AINS supplying roll, pitch and heading signals of the pole with respect to a ground referenced locally level coordinate system that characterizes the tilt and heading of the survey pole, a computer and program responsive to the roll, pitch and heading signals of the pole, the zero velocity signal and predetermined distance from the position transducer to the survey pole bottom end for calculating and adding North, East and Down vectors in the earth referenced locally level coordinate system from the position of the RTSR to the position of the survey pole bottom end to obtain the earth referenced position of the survey pole bottom end when the survey pole bottom end is in contact with the ground.

11. The AINS enhanced precision land survey instrument system of claim 10 wherein the AINS supplying roll, pitch and heading signals that characterize the tilt and heading of the survey pole is coupled to the pole adjacent to the a GCZVI switch.

12. The AINS enhanced precision land survey instrument system of claim 10 wherein the AINS has a position center typically characterized as the intersection of the accelerometer axis, and wherein the program for calculating the earth referenced position of the survey pole bottom end corrects the position of the survey pole bottom end for a lever arm distance between the survey pole bottom end and the AINS position center to provide a corrected position of the AINS position center, the corrected position of the AINS position center being coupled to the AINS for use by the Kalman filter to continually enhance AINS computed present position.

13. The AINS enhanced precision land survey instrument system of claim 10 wherein the AINS coupled to the survey pole for supplying roll, pitch and heading signals that characterize the tilt and heading of the survey pole is further characterized as being positioned on the survey pole immediately above

a spike positioned at the survey pole bottom end, the GCZVI switch being integrated within the AINS into a common package.

14. An AINS enhanced precision land survey instrument system process comprising the steps of:

1. rigidly coupling a position transducer to a survey pole,

2. rigidly coupling a package containing an AINS with a the GCZVI switch to a survey pole, the survey pole having

a bottom end protected by a spike for contact with a survey point on the ground,

3. obtaining the earth referenced position of the position-transducer

4. obtaining roll, pitch and heading angles of the survey pole from the AINS measured with respect to an earth referenced coordinate system,

5. calculating a vector set that characterizes a lever arm vector extending from the position-transducer to the spike using the roll, pitch and heading angles obtained from the AINS,

6. adding the vector set to the position transducer position to obtain the position of the spike on the ground, and

7. outputting the position of the spike on the ground as a surveyed position.

15. The AINS enhanced precision land survey instrument system process of claim 14 wherein the step of calculating a vector set that characterizes a lever arm vector extending from the position-transducer to the spike further comprises:

5A. calculating a vector set comprising a North, East and Down vector components in a ground reference coordinate system extending from the position transducer position to the location of the spike on the ground,

16. The AINS enhanced precision land survey instrument system process of claim 14 further comprising the steps of:

1. selecting the position transducer to be a GNSS receiver and antenna characterized to provide the earth referenced position of the GNSS antenna, and

2. using the position transducer position data to continually update an input to a Kalman Filter aiding input for the AINS.

17. The AINS enhanced precision land survey instrument system process of claim 14 further comprising the steps of:

selecting the position-transducer to be an RTSR cooperating with a ground referenced RTS to provide the position of the position transducer, and

using the position transducer position data to continually update a position data input to a Kalman Filter aiding input for the AINS.

18. The AINS enhanced precision land survey instrument system process of claim 15 wherein the step of selecting the position transducer to be a GNSS receiver and antenna further includes the step of:

positioning the GNSS receiver and antenna to be at the survey pole top end, and

further comprises the step of augmenting the GNSS receiver and antenna to employ

a precise point positioning algorithm for enhanced accuracy without employing additional ground based receivers.

19. The AINS enhanced precision land survey instrument system process of claim 17 further comprising the step of automating the precise point positioning algorithm for enhanced accuracy to use data obtained from a space based augmentation subscription service.

20. An aided inertial navigation system (AINS) enhanced precision land survey instrument, comprising:

a survey pole having a top end and a bottom end,

a position-transducer fixed to the survey pole at known location relative to the bottom end, the position transducer providing a sequence of earth referenced position signals that characterize the earth referenced position of the position-transducer,

a switch coupled to the survey pole to provide a switch signal when the survey pole bottom end is at a point to be surveyed,

an AINS coupled to the survey pole, the AINS supplying tilt and heading signals of the survey pole that characterize the tilt and heading of the survey pole with respect to a ground referenced locally level coordinate system,

a computation unit, responsive to the tilt and heading signals, the switch signal and known location of the position-transducer relative to the survey pole bottom end, for calculating coordinate translation information in an earth referenced locally level co-ordinate system leading from the position of the position transducer to the position of the survey pole bottom end to obtain the earth referenced position of the survey point.

21. The AINS enhanced precision land survey instrument of claim 20, wherein the switch is a ground contact zero velocity indicator switch at the bottom end of the survey pole.

22. The AINS enhanced precision land survey instrument of claim 20, wherein the position-transducer is a GNSS receiver and antenna characterized to provide each referenced position signals characterizing the earth referenced position of the GNSS antenna.

23. The AINS enhanced precision land survey instrument of claim 20, wherein the position-transducer and AINS is located at the survey pole top end.

24. The AINS enhanced precision land survey instrument of claim 20, wherein the position-transducer and AINS is integrated into a single package at the survey pole top end.

25. The AINS enhanced precision land survey instrument of claim 20, wherein the AINS is located next to the survey pole bottom end.

26. The AINS enhanced precision land survey instrument of claim 22, wherein the GNSS receiver receives augmented correction signals from a ground GNSS reference receiver.

27. The AINS enhanced precision land survey instrument of claim 20, wherein the position-transducer comprises a reflective prism and data receiver for use with one of a CTS or an RTS receiver or transponder, which provides measured earth referenced position of the position-transducer.

28. The AINS enhanced precision land survey instrument of claim 20 wherein the AINS has a position center and wherein the computation unit calculates the earth referenced position of the survey pole bottom end and corrects the position of survey pole bottom end for a lever arm distance between the survey pole bottom end and the AINS position center to provide a sequence of corrected positions of the AINS poison center, wherein the AINS has a Kalman Filter, and wherein the corrected position of the AINS position center is coupled to the AINS for use by the AINS Kalman Filter to continually enhance AINS computed present position for use in response to interruption of receipt of position transducer position data, and wherein the sequence of computed positions of the survey pole bottom ends are supplied to the AINS Kalman Filter to provide continuing updated position data to the AINS enabling the AINS to provide dead reckoning navigational data for uninterrupted performance of the AINS enhanced precision land survey instrument in response to interruption of position transducer position data.

29. An AINS enhanced precision land survey instrument systems comprising:

a survey pole having a top end and a bottom end;

a position-transducer fixed to the survey pole at known location relative to the bottom end, the position transducer having a robotic total station retro-reflector (RTSR) for receiving and returning a laser beam from a robotic total station (RTS) receiver at a known earth based position, the RTS receiver measuring the ground referenced position of the RTSR by measuring the distance, bearing and elevation of the RTSR at the survey pole top end with respect to the known ground position of the RTS receiver from data obtained from the returned laser beam provided by the RTS receiver, the RTS calculating coordinate transformation information from the ground referenced locally level position of the RTS to the ground referenced and locally level position of the RTSR, and calculating the earth referenced position of the RTSR based on the known earth referenced position of the RTS and the coordinate transformation information;

a switch coupled to the survey pole to provide a switch signal when the survey pole bottom end is at a point to be surveyed;

an AINS coupled to the survey pole, the AINS supplying tilt and heading signals of the pole with respect to a ground referenced locally level coordinate system that characterizes the tilt and heading of the survey pole, a computation unit responsive to the tilt and heading signals of the pole, the switch signal and the known location of the position-transducer relative to the survey pole bottom end for calculating, from the coordinate transformation information and the position of the RTSR, the earth referenced position of the survey point.

30. The AINS enhanced precision land survey instrument system of claim 29, wherein the AINS is coupled to the pole adjacent to the switch.

31. The AINS enhanced precision land survey instrument system of claim 29, wherein the switch is a ground contact zero velocity indicator (GCZVI) switch at the bottom end.

32. The AINS enhanced precision land survey instrument system of claim 29, wherein the AINS has a position center, wherein the AINS has a Kalman Filter, and wherein the computation unit for calculating the earth referenced position of the survey pole bottom end corrects the position of the survey pole bottom end for a lever arm distance between the survey pole bottom end and the AINS position center to provide a corrected position of the AINS position center, the corrected position of the AINS position center being coupled to the AINS for use by the Kalman Filter to continually enhance AINS computed present

33. The AINS enhanced precision land survey instrument system of claim 29 wherein the AINS is positioned next to the bottom end of the survey pole.

34. The AINS enhanced precision land survey instrument system of claim 29, wherein the AINS is integrated with the switch into a common package.

35. An aided inertial navigation system (AINS) enhanced precision land survey instrument system process using a survey pole with a top end and a bottom end, a position-transducer located on the pole at a certain position spaced from the bottom end, and an aided inertial navigation system (AINS), comprising the steps of:

a. locating the bottom end on a survey point;

b. obtaining the earth referenced position of the position-transducer;

c. obtaining tilt and heading angles of the survey pole from the AINS measured with respect to an earth referenced coordinate system;

d. calculating a vector set that characterizes the location of the position-transducer relative to the bottom end using the tilt and heading angles obtained from the AINS;

e. adding the vector set to the position transducer position to obtain the position of the bottom end; and

f. outputting the position of the bottom end on the ground as a surveyed position of the survey point.

36. The AINS enhanced precision land survey instrument system of claim 35, wherein the step of calculating a vector set further comprises:

calculating a vector set comprising North, East and Down vector components in a ground reference coordinate system extending from the position transducer position to the location of the bottom end of the survey pole.

37. The AINS enhanced precision land survey instrument system process of claim 35, wherein the position-transducer is a GNSS receiver and antenna characterized to provide the earth referenced position of the GNSS antenna, and further comprising the step of using the position-transducer position data to continually update an input to a Kalman Filter aiding input for the AINS.

38. The AINS enhanced precision land survey instrument system process of claim 35 wherein the position-transducer is an RTSR cooperating with a ground referenced RTS to provide the position of the position-transducer, and further comprising the step of using the position-transducer position data to continually update a position data input to a Kalman Filter aiding input for the AINS.

39. The AINS enhanced precision land survey instrument system process of claim 35 wherein the position-transducer is a GNSS receiver and antenna positioned at the survey pole top end, and further comprising the step of augmenting the GNSS receiver and antenna to employ a precise point positioning algorithm for enhanced accuracy without employing additional ground based receivers.

40. The AINS enhanced precision land survey instrument system process of claim 38 further comprising the step of automating the precise point positioning algorithm for enhanced accuracy to use data obtained from a space based augmentation subscription service.