Position sensing system

• US 5,671,160 A
• Filed: 06/05/1995
• Issued: 09/23/1997
• Est. Priority Date: 06/05/1995
• Status: Expired due to Fees

• Current Assignee: GCS Properties Co.
• Original Assignee: GCS Properties Co.
• Inventors: Julian, Charles F.
• Primary Examiner(s): Voeltz, Emanuel T.
• Assistant Examiner(s): KEMPER, MELANIE A
• Application Number:
  US08/465,254
• Time in Patent Office: 841 Days
• Field of Search: 364/559, 364/443, 364/444, 364/449, 364/420, 364/453, 364/460, 364/505, 364/561, 250/559.38, 250/559, 250/29, 250/559.37, 33/293, 33/318, 33/320, 33/321, 356/139.03, 356/375
• US Class Current: 702/94
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

A system for three-dimensional position sensing including a target station, a reference station and a means for accurately calculating the position of the target station relative to the reference station. The system includes the use of at least one gyroscope and a computer to determine the position of the target station. Such a system may be used in land surveying, earth grading machinery position sensing, marine navigation and coordinate measuring.

Claims

1. A system for three-dimensional position sensing comprising:

(a) at least one target station comprising means for transmitting data;

(b) at least one reference station comprising;

(1) means for measuring the distance of the at least one target station from the at least one reference station to obtain a distance measurement;

(2) means for measuring the height of the at least one target station relative to the height of the at least one reference station to obtain a height measurement;

(3) means for measuring the azimuth angle of the at least one target station to obtain an azimuth angle measurement; and

(4) means for transmitting the distance measurement, the height measurement, and the azimuth angle measurement to a means for correcting for tilt;

(c) means for defining a floating point;

(d) means for measuring rotation of the at least one target station about the floating point;

(e) means for correcting for tilt of the target station in response to the measurements received from the means for transmitting; and

wherein the target station measurements received by the means for correcting for tilt of the target station are stored therein;

further wherein data containing measurements taken by the means for measuring rotation of the at least one target station about the floating point are transmitted to the means for correcting for tilt of the target station and further are stored therein; and

wherein measurements taken by the means for measuring the distance of the at least one target station from the at least one reference station, the means for measuring the height of the at least one target station relative to the height of the at least one reference station, and the means for measuring the azimuth angle of the at least one target station are adjusted by the means for correcting for tilt of the target station according to measurements taken by the means for measuring the rotation of the at least one target station about the floating point.

2. The system of claim 1 wherein the at least one reference station comprises a robotic transit.

3. The system of claim 1 wherein the means for measuring rotation of the at least one target station about a floating point comprises a gyroscope.

4. The system of claim 3 wherein the gyroscope is a dual-axis gyroscope.

5. The system of claim 1 wherein the means for correcting for tilt of the target station comprises:

a first means for storing information;

a second means for storing information;

a third means for storing information;

means for processing information stored in the first means for storing information, the second means for storing information and the third means for storing information;

a fourth means for storing information which has been processed by the means for processing information.

6. The system of claim 1 wherein the target station comprises:

a target pole; and

a reflector mounted to the target pole.

7. The system of claim 1 further including a gyroscope mounted to the at least one reference station.

8. The system of claim 1 wherein:

the at least one target station comprises a plurality of target stations;

the at least one reference station comprises a plurality of reference stations corresponding to the plurality of target stations.

9. The system of claim 5 wherein the means for processing information includes means for performing vectoral addition and substraction.

10. The system of claim 6 wherein the target pole comprises:

a top portion;

a bottom portion; and

wherein the top portion and bottom portion are formed at an acute angle relative to one another.

11. The system of claim 10 wherein the reflector is mounted to the top portion of the target pole.

12. The system of claim 3 wherein the means for correcting for tilt of the target station comprises:

a first means for storing information;

a second means for storing information;

a third means for storing information;

means for processing information stored in the first means for storing information, the second means for storing information and the third means for storing information;

a fourth means for storing information which has been processed by the means for processing.

13. The system of claim 5 further including a gyroscope mounted to the at least one reference station.

15. A method for using the position sensing system of claim 1 to survey a tract of land, the method comprising:

(1) calibrating the reference gyroscope with the target gyroscope;

(2) calibrating the reference station;

(3) moving the target station;

(4) measuring the tilt of the reference station, the tilt of the target station, and the position of the target station and generating data indicative thereof;

(5) generating time stamps;

(6) storing data indicative of tilt of reference station, tilt of target station, and position of target station and tag with a time stamp; and

(7) calculating configuration of land.

16. A method for using the position sensing system of claim 1 to sense the position of and direct a grading implement, the method comprising:

storing data indicative of the desired configuration of a tract of land in the means for receiving, storing and processing information;

mounting the target station to the grading implement;

calibrating the reference gyroscope with the target gyroscope;

calibrating the reference station;

positioning the grading implement;

measuring the tilt of the reference station, the tilt of the target station, and the position of the target station and generate data indicative thereof;

tagging data indicative of tilt of reference station, tilt of target station and position of target station with a corresponding time stamp;

calculating the height and location of target station;

comparing the desired configuration with height of target station at location of target station; and

altering the configuration of land until it conforms to desired height at location of target station.

17. The system of claim 6 wherein the target station is mounted to a grading implement.

18. The system of claim 1 wherein the means for defining a floating point and the means for measuring rotation of the at least one target station about the floating point comprises an inclinometer.

19. The system of claim 1 wherein the at least one reference station is mounted to a ship.

20. The system of claim 7 wherein the gyroscope is a dual-axis gyroscope.

14. A system for three-dimensional position sensing comprising:

at least one target station;

at least one reference station comprising;

means for measuring the distance of the at least one target station from the at least one reference station;

means for measuring the height of the at least one target station relative to the height of the at least one reference station;

means for measuring the azimuth angle of the at least one target station;

means for defining a floating point;

means for measuring rotation of the at least one target station about the floating point;

means for correcting for tilt of the target station comprising;

a first means for storing information;

a second means for storing information;

a third means for storing information;

means for processing information stored in the first means for storing information, the second means for storing information and the third means for storing information;

a fourth means for storing information which has been processed by the means for processing;

means for storing information indicative of a desired configuration of a tract of land;

means for comparing the information stored in the fourth means for storing information with information stored in the means for storing information indicative of a desired configuration of a plat of land;

wherein measurements taken by the means for measuring the distance of the at least one target station from the at least one reference station, the means for measuring the height of the at least one target station relative to the height of the at least one reference station, and the means for measuring the azimuth angle of the at least one target station are adjusted by the means for correcting for tilt of the target station according to measurements taken by the means for measuring the rotation of the at least one target station about the floating point.