Monitor and remote control via long baseline RTK

• US 6,198,989 B1
• Filed: 05/21/1999
• Issued: 03/06/2001
• Est. Priority Date: 05/21/1999
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Tankhilevich, Boris G., Allison, Michael Timo
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/315,801
• Time in Patent Office: 655 Days
• Field of Search: 701/2, 701/213, 701/214, 701/215, 342/357.06, 342/357.09, 342/357.12, 342/357.13, 455/12.1, 455/13.1, 455/456, 455/524, 455/525
• US Class Current: 701/2
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile

Abstract

A method and a system for remote control of a rover over a long base line is disclosed. The system includes a primary base station (PBS), a secondary base station (SBS), a rover, a primary long line data link between PBS and SBS, and a secondary two-way data link between the SBS and the rover. The primary data link and the secondary data link comprise a long baseline feedback loop that is used to transmit the control data to the rover, to adjust the control data, and to transmit back from the rover to the SBS and to the PBS the collected feedback data.

Claims

1. A system for long baseline remote control comprising:

a primary base station (PBS);

wherein said PBS further comprises;

a primary base multi-frequency satellite antenna configured to receive a first plurality of broadcast satellite signals;

a primary base satellite receiver configured to continuously obtain a first plurality of satellite observables using said first plurality of received satellite signals; and

a primary base data storage configured to log each said satellite observable obtained from said first plurality of received satellite signals at a first predetermined interval;

a secondary base station (SBS);

a long non-continuous primary data link between said SBS and said PBS; and

a secondary two-way data link between said SBS and a rover;

wherein said PBS is configured to perform a long baseline remote control of said rover.

2. A system for long baseline remote control comprising:

a primary base station (PBS);

wherein said PBS further comprises;

a primary base multi-frequency satellite antenna configured to receive a first plurality of broadcast satellite signals;

a primary base satellite receiver configured to continuously obtain a first plurality of satellite observables using said first plurality of received satellite signals; and

a primary base data storage configured to log each said satellite observable obtained from said first plurality of received satellite signals at a first predetermined interval;

a secondary base station (SBS);

wherein said SBS further comprises;

a secondary base multi-frequency satellite antenna configured to receive a second plurality of broadcast satellite signals;

a secondary base satellite receiver configured to continuously obtain a second plurality of satellite observables using said second plurality of received satellite signals; and

a secondary base data storage configured to log each said satellite observable obtained from said second plurality of received satellite signals at a second predetermined interval;

a long non-continuous primary data link between said SBS and said PBS; and

a secondary two-way data link between said SBS and a rover;

wherein said PBS is configured to perform a long baseline remote control of said rover.

3. A system for long baseline remote control comprising:

a primary base station (PBS);

a secondary base station (SBS);

a primary one-way non-continuous data link, wherein said PBS is configured to transmit a compressed data set to said SBS using said primary one-way data link according to a predetermined schedule; and

a secondary two-way data link between said SBS and a rover;

wherein said PBS is configured to perform a long baseline remote control of said rover.

4. A method for long baseline remote control comprising the steps of:

(a) transmitting a primary set of remote control data including a primary base positional (PBS_P) data from a primary base station (PBS) to a secondary base station (SBS) using a primary data link;

(b) transmitting a secondary set of remote control data including a secondary base positional (SBS_P) data to a rover using a secondary two-way data link between said SBS and said rover;

(c) using said rover to collect a set of feedback data;

(d) transmitting said set of feedback data to said PBS via said SBS; and

(e) repeating said steps (a-d) for a next set of remote control data.

5. The method of claim 4, wherein said step (a) of transmitting said primary set of remote control data from said PBS to said SBS further includes the step of:

generating a positional data set (PBS_P) of said primary base station (PBS).

6. The method of claim 4, wherein said step (b) of transmitting said secondary set of remote control data from said SBS to said rover further includes the step of:

generating a positional data set (SBS_P) of said secondary base station SBS.

7. The method of claim 4, wherein said step (c) of using said rover to collect said set of feedback data further includes the step of:

performing a stake-out RTK survey of a database of intended survey marks by using said rover.

8. The method of claim 7, wherein said step (d) of transmitting said set of feedback data to said PBS further includes the step of:

transmitting a database of actual survey marks to said SBS using said secondary two-way data link.

9. The method of claim 4;

wherein said rover includes an excavator blade;

and wherein said step (b) of transmitting said secondary set of remote control data to said rover using said secondary two-way data link between said SBS and said rover further includes the step of;

(b1) transmitting a database of three dimensional position coordinates of an intended trajectory of said blade;

and wherein said step (c) of using said rover to collect said set of feedback data further includes the step of;

(c1) performing a remote control machine operation.

10. The method of claim 9, wherein said step (c1) of performing said remote control machine operation further includes a step of:

collecting a database of three dimensional position coordinates of an actual trajectory of said excavator blade.

11. The method of claim 10, wherein said step (d) of transmitting said set of feedback data to said PBS further includes the step of:

transmitting said database of three dimensional position coordinates of said actual trajectory of said excavator blade.

12. The method of claim 4;

wherein said step of (b) of transmitting said secondary set of remote control data from said SBS to said rover further includes the step of;

transmitting a data set of positional coordinates of a boundary of an intended survey area including a data set of three dimensional position coordinates of intended survey marks;

and wherein said step (c) of using said rover to collect said set of feedback data further includes the step of;

generating a set of actual survey marks during a continuous real time kinematic (RTK) survey operation;

and wherein said step (d) of transmitting said set of feedback data to said PBS further includes the steps of;

transmitting a set of actual survey marks; and

building a topographical map of an actual survey area.

13. The method of claim 4;

wherein said step (b) of transmitting said secondary set of remote control data to said rover further includes the steps of;

(b1) transmitting an algorithm for creating said data set of three dimensional position coordinates of intended survey marks;

(b2) transmitting a data set of positional coordinates of a boundary of an intended survey area;

and wherein said step (c) of using said rover to collect said set of feedback data further includes the step of;

(c1) generating a set of actual survey marks during a continuous real time kinematic (RTK) survey operation;

and wherein said step (d) of transmitting said set of feedback data to said PBS further includes the steps of;

(d1) transmitting a set of actual survey marks; and

(d2) building a topographical map of an actual survey area.

14. The method of claim 13, wherein said step (b1) of transmitting said algorithm for creating said data set of three dimensional position coordinates of intended survey marks further includes the step of:

transmitting said algorithm for creating said data set of three dimensional position coordinates of intended survey marks, wherein a set of positional coordinates of each said subsequent survey mark is incrementally increased relatively to a set of positional coordinates of one said preceding survey mark.

15. The method of claim 13, wherein said step (b1) of transmitting said algorithm for creating said data set of three dimensional position coordinates of intended survey marks further includes the step of:

transmitting said algorithm for creating said data set of three dimensional position coordinates of intended survey marks, wherein a set of positional coordinates of each said subsequent survey mark is incrementally increased relatively to a set of positional coordinates of one said preceding survey mark, and wherein an increment of said increase depends on the rate of altitude change for said intended survey area.

16. The method of claim 13, wherein said step (b1) of transmitting said algorithm for creating said data set of three dimensional position coordinates of intended survey marks further includes the step of:

transmitting said algorithm for creating said data set of three dimensional position coordinates survey marks, wherein a set of positional coordinates of each said subsequent survey mark is incrementally increased relatively to a set of positional coordinates of one said preceding survey mark, and wherein an increment of said increase is determined by the operator.

17. The method of claim 4;

wherein said step (b) of transmitting said secondary set of remote control data to said rover further includes the step of;

(b1) transmitting a data set of positional coordinates of a boundary of an intended image area including an algorithm for creating a data set of three dimensional position coordinates of intended image locations;

and wherein said step (c) of using said rover to collect said set of feedback data further includes the step of;

(c1) generating a combined set of images linked to image locations, each said image linked to one said image location, each said element of said set of images linked to image locations includes a set of three dimensional coordinates of one said image location from which one said image is created;

and wherein said step (d) of transmitting said set of feedback data to said PBS further includes the step of;

(d1) transmitting said combined set of images linked to image locations.

18. The method of claim 17, wherein said step (b1) of transmitting said control data further includes the step of:

transmitting said algorithm for creating said data set of images linked to image locations, wherein a set of positional coordinates of each said subsequent image location is incrementally increased relatively to a set of positional coordinates of one said preceding image location.

19. The method of claim 17, wherein said step (b1) of transmitting said control data further includes the step of:

transmitting said algorithm for creating said data set of images linked to image locations, wherein a set of positional coordinates of each said subsequent image location is incrementally increased relatively to a set of positional coordinates of one said preceding image location, and wherein an increment of said increase depends on the rate of altitude change for said intended image area.

20. The method of claim 17, wherein said step (b1) of transmitting said control data further includes the step of:

transmitting said algorithm for creating said data set of images linked to image locations, wherein a set of positional coordinates of each said subsequent image location is incrementally increased relatively to a set of positional coordinates of one said preceding image location, and wherein an increment of said increase is determined by the operator.

21. The method of claim 17;

wherein said step (b1) of transmitting said control data further includes the step of;

transmitting a data set of positional coordinates of a boundary of an intended area to be photographed including a data set of three dimensional position coordinates of photograph locations;

and wherein said step (c1) of generating said combined set of images linked to image locations further includes the step of;

generating a combined set of photograph images linked to photograph locations;

and wherein said step (d1) of transmitting to said PBS said combined set of images linked to image locations further includes the step of;

transmitting said combined set of photograph images linked to photograph locations.

22. The method of claim 17;

wherein said step (b1) of transmitting said control data further includes the step of;

transmitting a data set of positional coordinates of a boundary of an intended area to be stereoscopically photographed including a data set of three dimensional position coordinates of stereoscopic photograph locations;

and wherein said step (c1) of generating said combined set of images linked to image locations further includes the step of;

generating a combined set of stereoscopic photograph images linked to stereoscopic photograph locations;

and wherein said step (d1) of transmitting to said PBS said combined set of images linked to image locations further includes the step of;

transmitting said combined set of stereoscopic photograph images linked to stereoscopic photograph locations.

23. The method of claim 17;

wherein said step (b1) of transmitting said control data further includes the step of;

transmitting a data set of positional coordinates of a boundary of an intended area to be videotaped including a data set of three dimensional position coordinates of videotape locations and including a data set of time periods for videotaping;

and wherein said step (c1) of generating said combined set of images linked to image locations further includes the step of;

generating a combined set of videotaped images linked to videotape marks;

and wherein said step (d1) of transmitting to said PBS said combined set of images linked to image locations further includes the step of;

transmitting said combined set of videotaped images linked to videotape locations.

24. The method of claim 17;

wherein said rover includes an aircraft equipped with a photo camera and a GPS receiver;

and wherein said step (b1) of transmitting said control data further includes the step of;

transmitting a data set of positional coordinates of a boundary of an intended area to be photographed, wherein each said photo is taken from a single airborne photograph location within said boundary according to a predetermined time schedule;

and wherein said step (c1) of generating said combined set of images linked to image locations further includes the step of;

generating a combined set of photograph airborne images linked to airborne photograph locations;

and wherein said step (d1) of transmitting to said PBS said combined set of images linked to image locations further includes the step of;

transmitting said combined set of airborne photograph images linked to airborne photograph locations.