Optimization of survey coordinate transformations

• US 5,614,913 A
• Filed: 06/07/1995
• Issued: 03/25/1997
• Est. Priority Date: 06/07/1995
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Jackson, Richard, Taylor, Arthur, Nichols, Mark, Schipper, John F., McBride, Kenneth W., Viney, Ian
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/476,844
• Time in Patent Office: 657 Days
• Field of Search: 342/357, 342/352, 364/731, 364/815
• US Class Current: 342/357.29
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

A system for selecting an optimal transformation T(G2;G1) between a first ellipsoid E1 (e.g., WGS 84) in a first global coordinate system G1, relative to which the survey measurements are made, and a second ellipsoid E2 in a second global coordinate system G2. A set of location coordinates (x'"'"'_m,2, y'"'"'_m,2,z'"'"'_m,2) for M previously-surveyed locations, numbered m=1, . . . , M, and a set of location coordinates (x'"'"'_n,1, y'"'"'_n,1,z'"'"'_n,1) for N presently-surveyed locations, numbered n=1, . . . , N (M≦N) are provided, where the first M presently-surveyed locations coincide with the M previously-surveyed locations. The transformation is chosen so that the images of the location coordinates (x'"'"'_n,1,y'"'"'_n,1, z'"'"'_n,1) for n=1, . . . , M under T(G2;G1) are as close as possible to the corresponding location coordinates (x'"'"'_m,2,y'"'"'_m,2, z'"'"'_m,2) for m=1, . . . , M. Given an ellipsoid and a selected survey plane τ0 that is tangent to the ellipsoid at a selected location, a set of selected locations can be surveyed with reference to the ellipsoid, and the location coordinates of each such surveyed location can be mapped into a corresponding "survey location," defined by reference to a local coordinate system that uses the survey plane τ0 as its base. These transformations and projections are determined and optimized in real time, while a surveyor is measuring the presently-surveyed locations in the field. The instruments used for surveying may be part of a location determination system, such as a Global Positioning System, a Global Orbiting Navigational Satellite System or Loran.

Claims

1. A method for determining location coordinates for a plurality of surveyed locations, the method comprising the steps of:

providing a location determination (LD) receiver having an LD signal antenna and an LD signal receiver/processor to receive and process LD signals transmitted from three or more LD signal sources, which are spaced apart from the LD receiver, and to use these LD signals to determine three-dimensional location coordinates for the LD signal antenna;

using the LD signals received at the LD receiver to determine a first set of three-dimensional location coordinates (x'"'"'_n,1,y'"'"'_n,1,z'"'"'_n,1) for N selected presently-surveyed locations, numbered n=1, 2, . . . , N (N≧

3) in a first coordinate system G1;

providing a second set of three-dimensional location coordinates (x'"'"'_m,2, y'"'"'_m,2, z'"'"'_m,2) for M previously-surveyed locations, numbered m=1, 2, . . . , M (M≦

N), where each previously-surveyed location number m=k is coincident with the presently-surveyed location number n=k for k=1, 2, . . . , M;

providing a three-dimensional coordinate transformation T(G2;

G1) of the first coordinate system G1 onto a second three-dimensional coordinate system G2, under which the location coordinates (x'"'"'_n,1, y'"'"'_n,1, z'"'"'_n,1) for each of the N presently-surveyed locations in G1 are transformed into location coordinates (x"_n,2, y"_n,2, z"_n,2) in G2 (n=1, 2, . . . , N);

choosing the transformation T(G2;

G1) so that the error sum ##EQU19## is minimized, where p is a selected positive number and e_m,f_m and g_m are selected non-negative weight coefficients; and

determining the location coordinates (x"_n,2, y"_n,2, z"_n,2) for at least one of the presently surveyed locations (n=1, 2, . . . , N) under the transformation T(G2;

G1), and displaying these location coordinates by a visually perceptible or audibly perceptible image.

2. The method of claim 1, further comprising the step of choosing as said transformation T(G2;

G1) the coordinate transformation

space="preserve" listing-type="equation">x".sub.E2 =h.sub.11 x'"'"'.sub.E1 +h.sub.12 y'"'"'.sub.E1 +h.sub.13 z'"'"'.sub.E1 +h.sub.14,

space="preserve" listing-type="equation">y".sub.E2 =h.sub.21 x'"'"'.sub.E1 +h.sub.22 y'"'"'.sub.E1 +h.sub.23 z'"'"'.sub.E1 +h.sub.24,

space="preserve" listing-type="equation">z".sub.E2 =h.sub.31 x'"'"'.sub.E1 +h.sub.32 y'"'"'.sub.E1 +h.sub.33 z'"'"'.sub.E1 +h.sub.34,

where h_ij (i=1, 2, 3;

j=1, 2, 3,

     4) are selectable parameters.

3. The method of claim 2, further comprising the steps of:

selecting said number p=2 and selecting all of said coefficients e_m, f_m and g_m equal to a common positive number; and

choosing said transformation parameters h_ij to satisfy the relations ##EQU20## where each sum is a sum over i=1, 2, . . . , M), corresponding to the M previously-surveyed locations (i=1, 2, . . . , M).

4. The method of claim 1, further comprising the step of choosing as said transformation T(G2;

G1) the transformation defined by (1) a first rotation of the coordinate system around a selected first coordinate axis by a first selected angle θ

₁, followed by (2) a second rotation of the coordinate system around a selected second coordinate axis by a selected second angle θ

₂, followed by (3) a third rotation of the coordinate system about a selected third coordinate axis by a selected third angle θ

₃, followed by (4) multiplication of the location coordinates resulting from the first, second and third rotations by a real number scale factor K, followed by (5) translation of the resulting first, second and third location coordinates by selected amounts Δ

x₁, Δ

y₁ and Δ

z₁, where θ

₁, θ

₂, θ

₃, K, Δ

x₁, Δ

y₁ and Δ

z₁, are selectable parameters, and where the selected second coordinate axis does not coincide with the selected first coordinate axis and does not coincide with the selected third coordinate axis.

5. The method of claim 4, further comprising the step of choosing as said transformation T(G2;

G1) the coordinate transformation ##EQU21## where θ

₃ =θ

12, θ

₂ =θ

13 and θ

₁ =θ

23 are angles of rotation about the third, second and first rectangular coordinates axes, respectively, and Δ

x₁, Δ

y₁, and Δ

z₁ are translations parallel to the respective first, second and third coordinates axes in G1.

6. The method of claim 5, further comprising the steps of:

selecting said number p=2 and selecting all of said coefficients e_m, f_m and g_m equal to a common positive number.

7. The method of claim 1, further comprising the step of selecting said LD signal sources from the class of satellite-based LD signal sources consisting of Global Positioning System satellites and Global Orbiting Navigational Satellite System satellites.

8. The method of claim 1, further comprising the step of selecting said LD signal sources from the class of ground-based LD signal sources consisting of signal beacons for transmitting Loran signals, Tacan signals, Decca signals, Omega signals, JTIDS Relnav signals and Personal Location Reporting Service (PLRS) signals.

9. A method for determining location coordinates for a plurality of surveyed locations, the method comprising the steps of:

providing a location determination (LD) receiver having an LD signal antenna and an LD signal receiver/processor to receive and process LD signals transmitted from two or more LD signal sources, which are spaced apart from the LD receiver, and to use these LD signals to determine two-dimensional location coordinates for the LD signal antenna;

using the LD signals received at the LD receiver to determine a first set of two-dimensional location coordinates (x'"'"'_n,1, y'"'"'_n,1) for N selected presently-surveyed locations, numbered n=1, 2, . . . , N (N≧

3) in a first coordinate system G1;

providing a second set of two-dimensional location coordinates (x'"'"'_m,2, y'"'"'_m,2) for M previously-surveyed locations, numbered m=1, 2, . . . , M (M≦

N), where each previously-surveyed location number m=k is coincident with the presently-surveyed location number n=k for k=1, 2, . . . , M;

providing a two-dimensional coordinate transformation T(G2;

G1) of the first coordinate system G1 onto a second two-dimensional coordinate system G2, under which the location coordinates (x'"'"'_n,1, y'"'"'_n,1) for each of the N presently-surveyed locations in G1 are transformed into location coordinates (x"_n,2, y"_n,2) in G2 (n=1, 2, . . . , N);

choosing the transformation T(G2;

G1) so that the error sum ##EQU22## is minimized, where p is a selected positive number and e_m and f_m are selected non-negative weight coefficients; and

determining the location coordinates (x"_n,2, y"_n,2) for at least one of the presently surveyed locations (n=1, 2, . . . , N) under the transformation T(G2;

G1) ,and displaying these location coordinates by a visually perceptible or audibly perceptible image.

10. The method of claim 9, further comprising the step of choosing as said transformation T(G2;

G1) the coordinate transformation

space="preserve" listing-type="equation">x".sub.i,2 =h.sub.11 x'"'"'.sub.i,1 +h.sub.12 y'"'"'.sub.i,1 +h.sub.14,

space="preserve" listing-type="equation">y".sub.i,1 =h.sub.21 x'"'"'.sub.i,1 +h.sub.22 y'"'"'.sub.i,1 +h.sub.24,

where h_ij (i=1, 2;

j=1, 2,

     4) are selectable parameters.

11. The method of claim 10, further comprising the steps of:

selecting said number p=2 and selecting all of said coefficients e_m and f_m equal to a common positive number; and

choosing said transformation parameters h_ij to satisfy the relations ##EQU23## where each sum is a sum over i=1, 2, . . . , M), corresponding to the M previously-surveyed locations (i=1, 2, . . . , M).

12. The method of claim 9, further comprising the step of choosing as said transformation T(G2;

G1) the coordinate transformation

space="preserve" listing-type="equation">x.sub.2 =K(cos θ

12)x.sub.1 +K(sin θ

12)y.sub.1 +Δ

x.sub.1,

space="preserve" listing-type="equation">y.sub.2 =K(-sin θ

12)x.sub.1 +K(cos θ

12)y.sub.1 +Δ

y.sub.1,

where K, θ

12, Δ

x₁ and Δ

y₁ are selectable transformation parameters.

13. The method of claim 12, further comprising the steps of:

selecting said number p=2 and selecting all of said coefficients e_m and f_m equal to a common positive number; and

choosing said transformation parameters K, θ

12, Δ

x₁ and Δ

y₁ to satisfy the relations ##EQU24##

14. The method of claim 9, further comprising the step of selecting said LD signal sources from the class of satellite-based LD signal sources consisting of Global Positioning System satellites and Global Orbiting Navigational Satellite System satellites.

15. The method of claim 9, further comprising the step of selecting said LD signal sources from the class of ground-based LD signal sources consisting of signal beacons for transmitting Loran signals, Tacan signals, Decca signals, Omega signals, JTIDS Relnav signals and Personal Location Reporting Service (PLRS) signals.