Three dimensional terrain mapping

• US 20100245169A1
• Filed: 07/05/2006
• Published: 09/30/2010
• Est. Priority Date: 07/05/2006
• Status: Active Grant

• Current Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Original Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Inventors: O'Connor, Raymond M.
• Granted Patent: US 8,775,066 B2
• Time in Patent Office: Days
• US Class Current: 342/357.250
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3826 Terrain data
• CPC Class Codes: G01C 21/3841 Data obtained from two or more sources, e.g. probe vehicles
• CPC Class Codes: G01C 21/3844 Data obtained from position sensors only, e.g. from inertial navigation
• CPC Class Codes: G01C 21/387 Organisation of map data, e.g. version management or database structures

Abstract

Disclosed is a technique for generating a three dimensional terrain map of a geographic area. Mobile units are equipped with satellite receivers (e.g., GPS receivers) for generating location data. A map generator uses the location data to generate a three dimensional terrain map. In one embodiment, the mobile units have primary uses other than mapping, and are traversing the geographic area to be mapped in connection with their primary function. The map generation process may be performed iteratively over time, as additional location data becomes available. During a time period when location data is unavailable for a portion of the three dimensional terrain map, the map generator may estimate the missing portion of the map using the available data. The estimated portion may later be updated with actual data as that data becomes available. The map may also contain enhancements based on enhancement data received by the map generator.

Claims

1. (canceled)

10. (canceled)

11. A method for generating a three dimensional terrain map comprising:

receiving location data from a plurality of satellite receivers located on a plurality of mobile units;

generating a three dimensional terrain map using said received location data;

storing a plurality of versions over time of said three dimensional terrain map; and

analyzing changes in said versions of said three dimensional terrain map over time.

2. The method of claim 11 wherein said mobile units serve a primary purpose other than mapping said terrain.

3. The method of claim 11 wherein said mobile units are golf carts.

4. The method of claim 11 wherein said mobile units are lawn mowers.

5. The method of claim 11 further comprising the step of:

estimating a portion of said three dimensional terrain map if location data is unavailable for said portion.

6. The method of claim 5 further comprising the step of:

updating an estimated portion of said three dimensional terrain map when location data becomes available for said portion.

7. The method of claim 11 further comprising the step of:

receiving enhancement data; and

wherein said three dimensional terrain map includes enhancements and is generated using said enhancement data.

8. The method of claim 7 wherein said enhancements comprise wind direction and velocity.

9. The method of claim 7 wherein said enhancements comprise atmospheric water vapor.

27. The method of claim 8 wherein said step of analyzing further comprises predicting wind velocity and direction at a future time.

12. (canceled)

13. (canceled)

14. (canceled)

15. (canceled)

16. (canceled)

25. (canceled)

26. Apparatus for generating a three dimensional terrain map comprising:

means for receiving location data from a plurality of satellite receivers located on a plurality of mobile units;

means for generating a three dimensional terrain map using said received location data;

a database for storing a plurality of versions over time of said three dimensional terrain map; and

means for analyzing changes in said versions of said three dimensional terrain map over time.

17. The apparatus of claim 26 wherein said mobile units serve a primary purpose other than mapping said terrain.

18. The apparatus of claim 26 wherein said mobile units are golf carts.

19. The apparatus of claim 26 wherein said mobile units are lawn mowers.

20. The apparatus of claim 26 further comprising:

means for estimating a portion of said three dimensional terrain map if location data is unavailable for said portion.

21. The apparatus of claim 20 further comprising:

means for updating an estimated portion of said three dimensional terrain map when location data becomes available for said portion.

22. The apparatus of claim 26 further comprising:

means for receiving enhancement data; and

wherein said three dimensional terrain map includes enhancements and is generated using said enhancement data.

23. The apparatus of claim 22 wherein said enhancements comprise wind direction and velocity.

24. The apparatus of claim 22 wherein said enhancements comprise atmospheric water vapor.

28. The apparatus of claim 23 wherein said means for analyzing further comprises means for predicting wind velocity and direction at a future time.