Method and apparatus for precise positioning of large structures

• US 5,883,817 A
• Filed: 07/08/1996
• Issued: 03/16/1999
• Est. Priority Date: 07/08/1996
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: O'Meagher, Brent, Monnox, Alan, Chisholm, Gary Sedman, Hansby, Michael
• Primary Examiner(s): Trans, Vincent N.
• Application Number:
  US08/676,719
• Time in Patent Office: 981 Days
• Field of Search: 364/578, 395/119, 395/120, 701/213, 701/214, 701/215
• US Class Current: 703/1
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A three dimensional structure is precisely positioned at a desired location. A virtual model of the structure of interest is created and stored in a computer memory. Some time later, remote sensors are placed in selected positions on the structure of interest. The sensors are configured so as to provide real time location, attitude and orientation information regarding the structure and may consist of GPS remote units, tilt meters, gyro compasses, and pressure sensors. The position of each the remote sensors on the actual structure is also recorded in the computer memory so that the virtual model accurately reflects the configuration of the structure. As the structure is being positioned, the real-time location, attitude and orientation information produced by the remote sensors is monitored at a base station and used to update the virtual model. In this way, the virtual model accurately reflects the current location, attitude and orientation of the structure. The information so obtained can be displayed to a user as a graphical and textual representation of the current state of the structure. The desired location, attitude and orientation of the structure is also displayed, thereby allowing a user to adjust the current location, attitude and orientation of the structure so as to align the current position of the structure to desired position. As built reports are produced upon completion of the positioning operation.

Claims

1. A method of positioning a three-dimensional structure comprising the steps of:

establishing a virtual model, the virtual model including a three-dimensional digital representation of the structure, the virtual model being stored in a memory;

positioning remote sensors in selected positions on the structure, the remote sensors configured to provide real-time location, attitude and orientation information regarding the structure;

associating digital representations of the positions of the remote sensors with the virtual model in a data structure in the memory;

monitoring the real-time location, attitude and orientation information provided by the remote sensors;

modifying the location, attitude and orientation of the virtual model with respect to a predefined coordinate system so as to generate a real-time virtual model which corresponds to a current location, attitude and orientation of the structure;

displaying the real-time virtual model to a user as a graphical and textual representation of the current location, attitude and orientation of the structure and simultaneously displaying a graphical and textual representation of a desired location, attitude and orientation of the structure; and

adjusting the current location, attitude and orientation of the structure so as to align the current location, attitude and orientation of the structure to the desired location, attitude and orientation of the structure.

2. The method of claim 1 wherein the remote sensors include one or more GPS sensors, and wherein the step of positioning comprises the step of:

locating the GPS sensors on the structure such that one or more antennas associated with each of the one or more GPS sensors are located at strategic points on the structure so as to provide sufficient real-time position information to allow a determination of the location, attitude and orientation of the structure.

3. The method of claim 2 wherein the remote sensors further include one or more tilt meters, and wherein the step of positioning further comprises the step of:

locating the one or more tilt meters on the structure such that the tilt meters are oriented along the major axes of the structure so as to provide pitch and roll information concerning the structure during a positioning operation.

4. The method of claim 3 wherein the remote sensors further include one or more pressure sensors, and wherein the step of positioning further comprises the step of:

locating the one or more pressure sensors on the structure such that the pressure sensors are located on portions of the structure to be submerged so as to provide depth information regarding the submerged portions of the structure.

5. The method of claim 4 wherein the remote sensors further include a gyro compass, and wherein the step of positioning further comprises the step of:

locating the gyro compass on the structure such that the gyro compass is aligned with a major axis of the structure so as to provide orientation information regarding the structure.

6. The method of claim 1 wherein the remote sensors include a GPS sensor and a tilt meter, and wherein the step of positioning comprises the steps of:

locating the GPS sensor on the structure such that one or more antennas of the GPS sensor are located at strategic points on the structure so as to provide sufficient real-time position information to allow a determination of the location of the structure; and

locating the one or more tilt meters on the structure such that the tilt meters are oriented so as to provide orientation information regarding the structure.

7. The method of claim 1 wherein the remote sensors are coupled to a communication device on the structure and wherein the step of monitoring comprises the step of:

providing the real-time location, attitude and orientation information regarding the structure produced by the remote sensors to the communication device;

modulating a communication signal with the real-time location, attitude and orientation information in the communication device and transmitting the communication signal over a communication link to a base station;

receiving the communication signal at the base station and demodulating the communication signal to extract the real-time location, attitude and orientation information; and

processing the real-time location, attitude and orientation at the base station to produce update information for the virtual model.

8. The method of claim 7 wherein the step of modifying comprises the step of:

updating the virtual model using the update information so that the location, attitude and orientation of the virtual model with respect to the predefined coordinate system corresponds with the real-time location, attitude and orientation information produced by the remote sensors.

9. The method of claim 1 wherein the step of displaying comprises the steps of:

displaying the current orientation of the structure using a compass rose and pointer arrow; and

displaying the current attitude of the structure using orthogonal pitch and roll bars, each of the pitch and roll bars having associated pitch and roll cursors.

10. The method of claim 9 wherein the step of displaying further comprises the step of:

displaying a plan view of the positioning operation, the plan view showing a two-dimensional representation of the structure, the structure being represented in its current location, attitude and orientation, the plan view further showing the desired location, attitude and orientation of the structure.