PERFORMING DATA COLLECTION BASED ON INTERNAL RAW OBSERVABLES USING A MOBILE DATA COLLECTION PLATFORM
First Claim
1. A method of performing data collection using a mobile data collection platform, the method comprising:
- capturing an image that includes a point of interest, wherein the capturing is performed by an image capturing device that is an integral part of the mobile data collection platform;
obtaining raw observables from a Global Navigation Satellite System (GNSS) chipset that is internal to the mobile data collection platform;
determining a position fix based on the raw observables, wherein the position fix defines a location of an antenna;
calculating a location of an entrance pupil as an offset from the location of the antenna;
determining orientation information comprising a tilt angle and an azimuth angle, wherein the position fix and the orientation information are associated with a three dimensional location of the mobile data collection platform when the image was captured;
capturing scale information; and
storing the image, the position fix, the scale information, and the orientation information in hardware memory of the mobile data collection platform, wherein the capturing, the obtaining, the determining of the position fix, the calculating, the determining of the orientation information, and the storing are performed by one or more hardware processors that are part of the mobile data collection platform, and wherein the one or more hardware processors are outside of the internal GNSS chipset of the mobile data collection platform.
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0 Petitions
Accused Products
Abstract
An image that includes a point of interest is captured using an image capturing device that is part of the mobile data collection platform. Raw observables are obtained from a GNSS chipset that is internal to the mobile data collection platform. A position fix of the mobile data collection platform is determined based on the raw observables where the position fix defines a location of an antenna. A location of an entrance pupil is calculated as an offset of the location of the antenna. Orientation information comprising a tilt angle and an azimuth angle is determined. The position fix and the orientation information are associated with a three dimensional location that the mobile data collection platform is at when the image was captured. Scale information is captured. The image, the position fix, the scale information, and the orientation information are stored in hardware memory of the mobile data collection platform.
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Citations
34 Claims
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1. A method of performing data collection using a mobile data collection platform, the method comprising:
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capturing an image that includes a point of interest, wherein the capturing is performed by an image capturing device that is an integral part of the mobile data collection platform; obtaining raw observables from a Global Navigation Satellite System (GNSS) chipset that is internal to the mobile data collection platform; determining a position fix based on the raw observables, wherein the position fix defines a location of an antenna; calculating a location of an entrance pupil as an offset from the location of the antenna; determining orientation information comprising a tilt angle and an azimuth angle, wherein the position fix and the orientation information are associated with a three dimensional location of the mobile data collection platform when the image was captured; capturing scale information; and storing the image, the position fix, the scale information, and the orientation information in hardware memory of the mobile data collection platform, wherein the capturing, the obtaining, the determining of the position fix, the calculating, the determining of the orientation information, and the storing are performed by one or more hardware processors that are part of the mobile data collection platform, and wherein the one or more hardware processors are outside of the internal GNSS chipset of the mobile data collection platform. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A mobile data collection platform, the mobile data collection platform comprising:
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a cellular device that includes; an antenna; a display; and an internal Global Navigation Satellite System (GNSS) chipset, wherein the antenna receives GNSS positioning signals that define a location of the antenna and wherein the display is for displaying images; an image capturing device that captures an image through an entrance pupil of the mobile data collection platform; an orientation system that includes a tilt sensor and a compass and determines orientation information that includes tilt angle obtained from the tilt sensor and heading information obtained from the compass, wherein the tilt angle is between the mobile data collection platform and a local gravity vector, and the heading information is an azimuth angle between a pointing vector of the image capturing device and a reference direction; hardware memory that stores the image, a position fix and the orientation information; and one or more hardware processors that executes instructions which; receive raw observables from the internal GNSS chipset; capture the image with the image capturing device, wherein the image depicts a point of interest and wherein the image is captured while the antenna is at the location; determine the position fix associated with the mobile data collection platform based on the raw observables, wherein the position fix provides the location of the antenna in a GNSS coordinate system; calculate a location of the entrance pupil as an offset from the location of the antenna; access the orientation information from the orientation system, wherein the orientation information and heading information are associated with a three dimensional location of the mobile data collection platform when the image was captured; and store the image, the position fix and the orientation information and heading information in the hardware memory of the mobile data collection platform, wherein the hardware memory and the one or more hardware processors are outside of the internal GNSS chipset. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A non-transitory computer readable storage medium having computer readable instructions stored thereon for causing a computer system to perform a method of performing data collection using a mobile data collection platform, the method comprising:
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capturing an image that depicts a point of interest using a cellular device; obtaining raw observables from a Global Navigation Satellite System (GNSS) chipset that is an integral part of the cellular device; determining a position fix based on the raw observables; determining a three dimensional position of the cellular device based on a local gravity vector and the position fix; capturing scale information; and storing the image, the scale information, and the three dimensional position in hardware memory of the cellular device, wherein the local gravity vector is local with respect to the cellular device, wherein the cellular device is at the three dimensional position when the image is captured. - View Dependent Claims (29, 30, 31, 32, 33, 34)
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Specification