Land survey system

• US 7,978,128 B2
• Filed: 01/11/2011
• Issued: 07/12/2011
• Est. Priority Date: 12/15/2005
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Scherzinger, Bruno
• Primary Examiner(s): Tarcza; Thomas H
• Assistant Examiner(s): LIU, HARRY K
• Application Number:
  US12/930,569
• Publication Number:
  US 20110102255A1
• Time in Patent Office: 182 Days
• Field of Search: 342/357.23, 342/357.28
• US Class Current: 342/357.23
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

A method and system obtains precise survey-grade position data of target points in zones where precise GPS data cannot be obtained, due to natural or man-made objects such as foliage and buildings. The system comprises position measurement components such as a GPS receiver, together with an inertial measurement unit (IMU) and an electronic distance meter (EDM) or an image capture device all mounted on a survey pole. The system and method obtains GPS data when outside the zone and uses the other position measurement systems, such as the IMU, inside the zone to traverse to a target point. The EDM or the image capture device may be used within or without the zone to obtain data to reduce accumulated position errors.

Claims

1. A land-based survey system, comprising:

a vision positioning system configured to capture image data representing a sequence of images, said sequence of images including a plurality of non-common images of each of at least two different spaced apart fixed objects, said image data including known distance information;

a processor configured to use said image data to derive position information for said vision positioning system based upon differences between images in said sequence of images, said differences being derived from said image data obtained from each of said spaced apart fixed objects;

a position measurement system associated with said vision positioning system and configured continuously to obtain position information for said position measurement system that is based upon a known reference point and is subject to the accumulation of errors; and

a computer configured to use said position information derived from said vision positioning system to reduce accumulated errors of said position measurement system.

2. The land-based survey system of claim 1 in which said position measurement system comprises a dead-reckoning system based upon an IMU.

3. The land-based survey system of claim 1 in which said position measurement system comprises an EDM.

4. The land-based survey system of claim 1 in which said vision positioning system comprises one or more video cameras.

5. The land-based survey system of claim 1 in which said vision positioning system is adapted to capture said image data from one location and from another location.

6. The land-based survey system of claim 5 in which said vision positioning system is adapted to be moved from said one location to said another location.

7. The land-based survey system of claim 6 in which said position measurement system is adapted to be moved from said one location to said another location.

8. The land-based survey system of claim 1 in which said computer is adapted to provide blended position solutions based upon input of said position information obtained from said position measurement system and said image data.

9. The land-based survey system of claim 8 comprising an antenna and a GNSS receiver to provide GNSS position data, said computer being configured to correct position information for said position measurement system using said GNSS position data and said image data.

10. The land-based survey system of claim 9 in which said computer is adapted to provide blended position solutions based upon input of said position information obtained from said position measurement system, said GNSS position data and said image data.

11. The land-based survey system of claim 8 in which said blended solutions are represented by output from a Kalman filter.

12. The land-based survey system of claim 10 in which said blended solutions are represented by output from a Kalman filter.

13. The land-based survey system of claim 5 in which said known distance information consists of the distance between said one location and said another location.

14. The land-based survey system of claim 1 in which said known distance information consists of the distance between said at least two different spaced apart fixed objects.