Method and apparatus continously offsetting survey points by half angle calculations in real time in the field

• US 5,831,573 A
• Filed: 08/23/1996
• Issued: 11/03/1998
• Est. Priority Date: 08/23/1996
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Muir, Craig D.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/702,735
• Time in Patent Office: 802 Days
• Field of Search: 342/357, 701/213
• US Class Current: 701/214
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A method and apparatus for determining an offset path from an actual path using a mobile surveying device. In one embodiment, a sequence of continuous measured points is generated using a satellite positioning system included with the disclosed mobile surveying device. Offset points are computed relative to the measured points using half angle calculations. Each offset point is computed relative to the middle point of three continuous measured points generated by the satellite positioning system along the actual path. The offset points are continuously generated with the mobile surveying device in real time and in the field.

Claims

1. In a mobile surveying device, a method of determining an offset path offset from an actual path, the method comprising the steps of:

measuring a sequence of continuous measured points along the actual path, wherein the sequence of continuous measured points are generated using a satellite positioning system included with the mobile surveying device;

assigning sequentially a preceding, a middle and a subsequent measured point in the sequence of continuous measured points; and

computing an offset point of the offset path corresponding with the middle measured point immediately after the subsequent point is measured, the offset point being computed using a half-angle calculation relative to an angle defined by the middle measured point and the preceding and subsequent measured points.

2. The method described in claim 1 including the additional steps of:

assigning sequentially a next preceding, a next middle and a next subsequent measured point in the sequence of continuous measured points; and

computing a next offset point included in the offset path immediately after the next subsequent point is measured, the next offset point corresponding with the next middle measured point, the next offset point being computed using the half-angle calculation relative to an angle defined by the next middle measured point and the next preceding and next subsequent measured points.

3. The method described in claim 2 wherein the next preceding and the next middle measured points correspond with the middle and the subsequent measured points, respectively.

4. The method described in claim 1 wherein the offset point is in an offset direction from the middle measured point.

5. The method described in claim 1 wherein the offset point is a computed half angle distance from the middle measured point.

6. The method described in claim 5 wherein the offset point is computed using an offset distance from the actual path.

7. The method described in claim 6 wherein the offset distance includes a horizontal offset distance and a vertical offset distance.

8. The method described in claim 1 including the additional step of storing the offset point.

9. The method described in claim 8 wherein the offset point is stored as a ground vector from the second measured point.

10. The method described in claim 1 wherein the satellite positioning system is a global positioning system.

11. The method described in claim 1 wherein the computing step comprises the steps of:

computing a first azimuth from the preceding measured point to the middle measured point;

computing a second azimuth from the middle measured point to the subsequent measured point;

computing a third azimuth, the third azimuth being a mean angle of the first and second azimuths;

computing a fourth azimuth equal to 90 degrees subtracted from the third azimuth if an offset direction is in a first direction;

computing the fourth azimuth equal to 90 degrees added to the third azimuth if the offset direction is in a second direction; and

defining the next offset point as a ground vector at a horizontal distance and at a vertical distance from the actual path and a half angle distance from the middle measured point along the fourth azimuth.

12. A mobile surveying device for determining an offset path from an actual path, the mobile surveying device comprising:

satellite positioning system circuitry configured to generate a sequence of continuous measured points along the actual path;

the sequence of continuous measured points including preceding, middle and subsequent measured points;

computation circuitry coupled to receive the preceding, middle and subsequent measured points, the computation circuitry further coupled to receive an offset distance and an offset direction, the computation circuitry configured to compute an offset point immediately after the subsequent measured point is generated, the offset point being computed using a half-angle calculation relative to an angle defined by the middle measured point, the preceding and subsequent measured points; and

memory circuitry coupled to the computation circuitry for storing the offset point.

13. The mobile surveying device described in claim 12 wherein the satellite positioning system circuitry is further configured to generate a next preceding, a next middle, and a next subsequent measured point included in the sequence of continuous measured points along the actual path.

14. The mobile surveying device described in claim 13 wherein the computation circuitry is further configured to compute a next offset point immediately after the next subsequent measured point is generated, the computation circuitry computing the next offset point using the half-angle calculation relative to an angle defined by the next middle measured point, the next preceding and next subsequent measured points.

15. The mobile surveying device described in claim 14 wherein the offset path further comprises the next offset point.

16. The mobile surveying device described in claim 14 wherein the memory circuitry is further configured to store the next offset point.

17. The mobile surveying device described in claim 12 wherein the satellite positioning system circuitry is a global positioning system.

18. The mobile surveying device described in claim 12 further comprising input/output circuitry configured to receive the offset distance and the offset direction.

19. The mobile surveying device described in claim 12 wherein the offset distance includes a horizontal offset distance and a vertical offset distance.

20. The mobile surveying device described in claim 12 wherein the half-angle calculation includes a computation of a half-angle distance relative to the middle measured point, the preceding and subsequent measured points, the offset point being the half angle distance from the middle measured point.