Interpolation of survey coordinate differences

• US 5,978,744 A
• Filed: 04/27/1998
• Issued: 11/02/1999
• Est. Priority Date: 04/27/1998
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: McBride, Kenneth W.
• Primary Examiner(s): Barlow, John
• Assistant Examiner(s): VO, HIEN XUAN
• Application Number:
  US09/069,031
• Time in Patent Office: 554 Days
• Field of Search: 702/95, 702/94, 702/150, 33/320, 342/357, 342/352, 342/463, 701/300, 701/213, 701/207
• US Class Current: 702/95
• CPC Class Codes: G01S 1/04 Details

Abstract

A system for improving the accuracy of location coordinate determined in a survey of a chosen region, using a computer. A grid of spaced apart points is imposed on the region, and a set of survey control points is provided. A "near set" of nearest survey control points is associated with each grid point. For each grid point, a transformation T from a first (global) datum and coordinate system to a second (local) datum and coordinate system is determined that minimizes a collective difference between coordinates of each survey control point in the near set and the corresponding coordinates of that survey control point under the transformation T. For one, two or three coordinates of each grid point, a difference Δ between the coordinate(s) of the grid point in the near set and the corresponding coordinate(s) of that grid point under the transformation T is computed. An interpolation function is determined that approximately matches the coordinate(s) difference Δ at each grid point. The interpolation function provides a continuous datum-to-datum mapping between all points of the first and the second coordinate systems. Determination of location of each survey point may use GPS, GLONASS, modified LEO, LORAN or any other suitable location determination system.

Claims

1. A method for improving the accuracy of a survey of a region, the method comprising the step of providing a computer that is programmed to perform the following:

determining a grid of at least three survey reference points in a selected first coordinate system for a selected region;

providing a set of N survey control locations associated with the region;

for each grid point in the grid, identifying an associated survey control set of a selected number K (K≦

N) of survey control locations that are associated with the grid point, and determining a transformation T that has at least one adjustable parameter and that maps location coordinates in the first coordinate system into location coordinates in a selected second coordinate system;

for each grid point in the grid, determining a coordinate difference between at least a first coordinate of the grid point and a corresponding coordinate of the image of the grid point under the transformation T;

determining a difference interpolation function, defined on and continuous at all points in the selected region, which is approximately equal to the coordinate difference for each point on the grid; and

using the difference interpolation function to estimate and display a difference of at least one coordinate value between at least one selected survey location that is not among the K survey control locations in the first coordinate system and an image under the transformation T of the at least one selected survey location.

2. The method of claim 1, further comprising the step of determining said selected set of K survey control points to be said survey control points, each of whose distance to said grid point is no greater than the distance between said grid point and any survey control point that is not in said selected set of said K survey control points.

3. The method of claim 1, further comprising the step of choosing said at least one adjustable parameter so that a generalized sum of distances between each survey control location in said selected set of K survey control locations and the corresponding image under said transformation T, is minimized.

4. The method of claim 1, further comprising the steps of:

determining, for each said grid point in said grid, a second coordinate difference between at least a second coordinate of said grid point and a corresponding second coordinate of the image of said grid point under said transformation T; and

determining a second difference interpolation function, defined on and continuous at all points in the selected region, which is substantially equal to the second coordinate difference for each point on the grid.

5. The method of claim 4, further comprising the steps of:

determining, for each said grid point in said grid, a third coordinate difference between at least a third coordinate of said grid point and a corresponding third coordinate of the image of said grid point under said transformation T; and

determining a third difference interpolation function, defined on and continuous at all points in the selected region, which is substantially equal to the third coordinate difference for each point on the grid.

6. The method of claim 1, further comprising the step of selecting said first coordinate system and said second coordinate system to have a spatial dimension 2, with said location coordinates (x, y).

7. The method of claim 6, wherein said step of choosing said at least one adjustable parameter comprises the steps of:

obtaining a first set of K coordinate pairs {(x_k, y_k)} (k=1 . . . , K;

K≧

2) for said survey control locations in said first coordinate system and applying said transformation T to each coordinate pair in the first set to determine an image under T of the coordinate pair in said second coordinate system

space="preserve" listing-type="equation">T(x.sub.k, y.sub.k)=(x'"'"'.sub.k, y'"'"'.sub.k);

choosing said at least one adjustable parameter for said transformation T so that an error sum ε

_p defined by ##EQU17## is minimized, where p is a selected positive number, and e_k and f_k are selected non-negative numbers, not all zero.

8. The method of claim 7, further comprising the step of choosing as said transformation T the linear transformation defined by

9. The method of claim 8, wherein said step of choosing said at least one adjustable parameter further comprises the step of selecting at least one of said adjustable coefficients h_ij to minimize said error sum ε

_p.

10. The method of claim 7, further comprising the step of choosing as said transformation T the transformation defined by (1) a rotation of the first coordinate system around a selected rotation axis by a selected angle θ

1, (2) multiplication of said coordinates resulting from the rotation by a selected real number scale factor L, and (3) translation of the resulting first and second location coordinates by selected translation distances Δ

x and Δ

y, respectively, where at least one of the coefficients θ

1, L, Δ

x and Δ

y is an adjustable parameter.

11. The method of claim 7, further comprising the step of selecting said positive number p to be equal to 2 and choosing, each of said non-negative numbers e_k and f_k to be equal to a selected positive number.

12. The method of claim 1, further comprising the step of selecting said first coordinate system and said second coordinate system to have a spatial dimension 3, with said location coordinates (x, y, z).

13. The method of claim 12, wherein said step of choosing, said at least one adjustable parameter comprises the steps of:

obtaining a first set of K coordinate triples {(x_k, y_k, z_k)}(k=1, . . . , K;

K≧

2) for said survey control locations in said first coordinate system and applying said transformation T to each coordinate triple in the first set to determine an image under T of the coordinate triple in said second coordinate system

space="preserve" listing-type="equation">T (x.sub.k, y.sub.k, z.sub.k)=(x'"'"'.sub.k, y'"'"'.sub.k, z'"'"'.sub.k);

choosing said at least one adjustable parameter for said transformation T so that an error sum ε

_p defined by ##EQU18## is minimized, where p is a selected positive number and e_k, f_k and g_k are selected non-negative numbers, not all zero.

14. The method of claim 13, further comprising the step of choosing as said transformation T the linear transformation defined by

15. The method of claim 14, wherein said step of choosing said at least one adjustable parameter further comprises the step of selecting at least one of said adjustable coefficients h_ij to minimize said error sum ε

_p.

16. The method of claim 13, further comprising the step of choosing as said transformation T the transformation defined by (1) a first rotation of the first coordinate system around a selected first rotation axis by a selected first angle θ

1, (2) a second rotation of the first coordinate system around a selected second rotation axis, which differs from the selected first rotation axis, by a selected second angle θ

2, (3) a third rotation of the first coordinate system around a selected third rotation axis, which differs from the selected second rotation axis, by a selected second angle θ

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

x, Δ

y and Δ

z, respectively, where at least one of the coefficients θ

1, θ

2, θ

3, L, Δ

x, Δ

y and Δ

z is an adjustable parameter.

17. The method of claim 13, further comprising the step of selecting said positive number p to be equal to 2 and choosing each of said non-negative numbers e_k, f_k and g_k to be equal to a selected positive number.

18. Apparatus for transforming coordinates for at least one location, surveyed in a first coordinate system, into location coordinates in a second coordinate system, the apparatus comprising a computer that is programmed to:

obtain location coordinates for a selected set of survey control locations (K≧

2) in a first coordinate system, and to obtain a subset of K selected survey control locations (K≧

2) that are closer to a selected location than any other survey control location in the selected set;

obtain location coordinates for the set of survey control locations, expressed in a selected second coordinate system;

determine a coordinate transformation T, having at least one adjustable parameter, of the first coordinate system onto the second coordinate system to minimize a selected generalized sum of distances between each survey control location in the selected subset of K survey control locations and the corresponding image under the transformation T, by choice of at least one adjustable parameter;

determine an interpolation function that estimates the difference between at least one coordinate of a selected location in the first coordinate system and the corresponding coordinate of the image under T of the selected location; and

use the difference interpolation function to estimate and display a difference of at least one coordinate value between at least one of the N survey control locations in the first coordinate system and an image under the transformation T of the at least one of the N survey control locations.

19. The apparatus of claim 18, wherein said computer applies said transformation T to said coordinates of at least one location in said first coordinate system that is not a survey control location.

20. The apparatus of claim 19, wherein said computer is programmed to determine said transformation T at approximately a time that a location is determined for said at least one location that is not a survey control location in said first coordinate system.

21. The apparatus of claim 20, wherein said computer is handheld.

22. The apparatus of claim 18, further comprising a location determination (LD) system that receives LD signals from a plurality of LD signal sources and that provides present location information for said computer from which said computer determines said coordinates for each of said plurality of survey control locations in at least one of said first coordinate system and said second coordinate system.

23. The apparatus of claim 18, further comprising a display that, in a selected mode of operation, automatically displays, in at least one of visually perceptible and audibly perceptible form, a selected number of survey control locations that are closest to said present location of said LD system.

24. The apparatus of claim 22, wherein said LD signals are drawn from a class of timed signals consisting of Global Positioning System signals, Global Orbiting Navigational Satellite System signals and Low Earth Orbit system signals.

25. The apparatus of claim 18, further comprising a display that displays, in at least one of visually perceptible and audibly perceptible form, at least one of (1) a selected number of survey control locations that are closest to a selected location;

(2) at least one transformation parameter that describes said transformation T;

(3) said difference between said at least one coordinate of said selected location in said first coordinate system and said corresponding coordinate of said image under T of said selected location; and

(4) an estimate, using said interpolation function, of said difference between said at least one coordinate of said selected location in said first coordinate system and said corresponding coordinate of said image under T of said selected location.