Enhanced Position Measurement Systems and Methods

• US 20150276402A1
• Filed: 09/30/2013
• Published: 10/01/2015
• Est. Priority Date: 12/23/2010
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Christian Grasser, Peter Cornelius Kistler, Trimble Navigation Limited (Trimble Inc.)
• Inventors: Grsser, Christian, Kistler, Peter Cornelius, Greenberg, James, Johnson, Rod
• Granted Patent: US 10,168,153 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 1/02 Theodolites
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01C 9/00 Measuring inclination, e.g. by clinometers, by levels

Abstract

Novel solutions for position measurement, including without limitation tools and techniques that can be used for land surveying and in similar applications. One such tool is a greatly enhanced position measurement system that takes the form of a surveying rod with substantial independent functionality, which can be used with or without a total station or similar device.

Claims

1. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a position measurement device;

a tilt sensor;

a processor in communication with the position measurement device and the tilt sensor; and

a non-transitory computer readable medium having encoded thereon a set of instructions executable by the processor to cause the position measurement system to perform one or more operations, the set of instructions comprising;

instructions to receive tilt data from the tilt sensor, the tilt data indicating a tilt angle of the rod;

instructions to determine, based on the tilt data, that a tilt of the rod is within a specified tolerance from the vertical position; and

instructions to capture position data, using the position measurement device, about a position of the position measurement system, when the tilt of the rod is determined to be within the specified tolerance from the vertical position.

2. The position measurement system of claim 1, wherein the position measurement device comprises a global navigation satellite system (“

GNSS”

) device, and wherein the position data comprises GNSS data obtained by the GNSS device.

3. The position measurement system of claim 2, wherein the GNSS device collects position data at a rate of at least 5 Hz.

4. The position measurement system of claim 2, wherein the GNSS device collects position data at a rate of at least 10 Hz.

5. The position measurement system of claim 2, wherein the GNSS device collects position data at a rate of at least 50 Hz.

6. The position measurement system of claim 1, wherein the tilt sensor provides the tilt data with a latency of no more than 1.5 seconds.

7. The position measurement system of claim 1, wherein the tilt sensor provides the tilt data with a latency of no more than 1.0 seconds.

8. The position measurement system of claim 1, wherein the tilt sensor provides the tilt data with a latency of no more than 0.1 seconds.

9. The position measurement system of claim 1, further comprising:

instructions determine that a rate of change of the tilt data is within a specified rate;

wherein the instructions to capture the position data comprise instructions to capture the position data when the tilt of the rod is within the specified tolerance and the rate of change of the tilt data is within the specified rate.

10. The position measurement system of claim 1, further comprising a gyroscope, wherein the instructions further comprise:

instructions to receive input from the gyroscope; and

instructions to determine, based on the input from the gyroscope, that movement of the position measurement system is less than a specified threshold value before capturing the position data.

11. The position measurement system of claim 1, wherein the instructions to capture position data comprise:

instructions to collect position data upon determining that the tilt of the rod is within the specified tolerance from the vertical position; and

instructions to store, on a data storage device, collected position data upon determining that the rod has remained stable within the specified tolerance for a specified period of time.

12. The position measurement system of claim 11, wherein the specified period of time comprises sufficient time to collect sufficient position data to provide an accurate measure of a position of the base of the rod.

13. The position measurement system of claim 11, wherein the set of instructions further comprise:

instructions to collect pre-measurement position data before determining that the tilt of the rod is within the specified tolerance;

instructions to collect post-measurement position data after the tilt of the rod has exceeded the specified tolerance; and

instructions to refine the stored position data based on the pre-measurement position data and the post-measurement position data.

14. The position measurement system of claim 1, wherein the set of instructions further comprise:

instructions to provide a notification to an operator of the position measurement system.

15. The position measurement system of claim 14, wherein the notification comprises an audible notification.

16. The position measurement system of claim 14, wherein the notification comprises a visual notification.

17. The position measurement system of claim 14, wherein the notification indicates to the operator that the rod is within the specified tolerance.

18. The position measurement system of claim 14, wherein the notification indicates to the operator that the position data has been captured.

19. The position measurement system of claim 14, wherein the notification comprises a first notification that provides notice to the operator that the rod is within the specified tolerance and a second notification that provides notice to the operator that the position data has been captured.

20. The position measurement system of claim 1, further comprising a user interface, wherein the set of instructions further comprises:

instructions to receive user input, via the user interface, to collect position information;

wherein the instructions to capture position data comprise instructions to capture position data, in response to the user input, upon detecting that the tilt of the rod is within the specified tolerance.

21. The position measurement system of claim 1, wherein the specified tolerance is specified by the user.

22. The position measurement system of claim 1, wherein the specified tolerance is 5 degrees.

23. The position measurement system of claim 1, wherein the specified tolerance is 2 degrees.

24. The position measurement system of claim 1, wherein the specified tolerance is 1 degree.

25. The position measurement system of claim 1, wherein the specified tolerance is 0.5 degrees.

26. The position measurement system of claim 1, wherein the specified tolerance is 0.1 degrees.

27. The position measurement system of claim 1, further comprising an electronic display in communication with the tilt sensor, the electronic display simulating a bullseye spirit bubble, the electronic display displaying a bubble image and a ring image, with relative positions of the bubble image and the ring image being based on the tilt data.

28. The position measurement system of claim 27, wherein at least one of a size of the bubble image, a size of the ring image, or a rate of movement of the bubble image is based on specified user preferences.

29. The position measurement system of claim 27, further comprising an azimuth determination device, wherein at least one of a size of the bubble image, the size of the ring image, or the size of the bubble image relative to the ring image is based on a determined accuracy of the azimuth determination device.

30. The position measurement system of claim 1, further comprising an azimuth determination device, wherein the set of instructions further comprises:

instructions to receive azimuth data from the azimuth determination device, the azimuth data indicating an azimuth of the tilt of the rod;

instructions to calculate, based on the captured position data, the tilt data, and the azimuth data, a position of the base of the rod in contact with the ground surface.

31. A method, comprising:

situating a position measurement system at a chosen location, the position measurement system comprising;

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a position measurement device;

a tilt sensor; and

a control subsystem;

receiving, with the control subsystem, tilt data from the tilt sensor, the tilt data indicating a tilt angle of the rod;

determining, based on the tilt data, when a tilt of the rod is within a specified tolerance from the vertical position; and

capturing position data, using the position measurement device, about a position of the position measurement system when the tilt of the rod is determined to be within the specified tolerance from the vertical position.

32. An apparatus, comprising:

a non-transitory computer readable medium having encoded thereon a set of instructions executable by one or more processors to cause a computer system to perform one or more operations, the set of instructions comprising;

instructions to establish communication between the computer system and a sensing subsystem of a position measurement system, the sensing subsystem comprising a tilt sensor and a position measurement device;

instructions to receive tilt data from the tilt sensor, the tilt data indicating a tilt angle of the position measurement system;

instructions to determine, based on the tilt data, when a tilt of the position measurement system is within a specified tolerance from the vertical position; and

instructions to capture position data, using the position measurement device, about a position of the position measurement system when the tilt of the position measurement system is determined to be within the specified tolerance from the vertical position.

33. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a position measurement device;

an azimuth determination device;

a tilt sensor;

a processor in communication with the position measurement device and the tilt sensor; and

a non-transitory computer readable medium having encoded thereon a set of instructions executable by the processor to cause the position measurement system to perform one or more operations, the set of instructions comprising;

instructions to receive tilt data from the tilt sensor, the tilt data indicating a tilt angle of the rod;

instructions to receive azimuth data from the azimuth determination device, the azimuth data indicating an azimuth of the tilt of the rod;

instructions to capture position data, using the position measurement device, about a position of the position measurement system;

instructions to calculate, based on the captured position data, the tilt data, and the azimuth data, a position of the base of the rod in contact with the ground surface.

34. A method, comprising:

situating a position measurement system at a chosen location, the position measurement system comprising;

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a position measurement device;

an azimuth determination device;

a tilt sensor;

a control subsystem;

receiving, at the control subsystem, tilt data from the tilt sensor, the tilt data indicating a tilt angle of the rod;

receiving, at the control subsystem, azimuth data from the azimuth determination device, the azimuth data indicating an azimuth of the tilt of the rod;

capturing position data, using the position measurement device, about a position of the position measurement system;

calculating, based on the captured position data, the tilt data, and the azimuth data, a position of the base of the rod in contact with the ground surface.

35. An apparatus, comprising:

a non-transitory computer readable medium having encoded thereon a set of instructions executable by one or more processors to cause a computer system to perform one or more operations, the set of instructions comprising;

instructions to establish communication between the computer system and a sensing subsystem of a position measurement system, the sensing subsystem comprising a tilt sensor, an azimuth determination device, and a position measurement device;

instructions to receive tilt data from the tilt sensor, the tilt data indicating a tilt angle of the rod;

instructions to receive azimuth data from the azimuth determination device, the azimuth data indicating an azimuth of the tilt of the rod;

instructions to capture position data, using the position measurement device, about a position of the position measurement system;

instructions to calculate, based on the captured position data, the tilt data, and the azimuth data, a position of the base of the rod in contact with the ground surface.