Handheld global positioning system device

• US 8,125,376 B1
• Filed: 08/30/2010
• Issued: 02/28/2012
• Est. Priority Date: 08/30/2010
• Status: Active Grant

• Current Assignee: Javad GNSS, Inc.
• Original Assignee: Javad GNSS, Inc.
• Inventors: Ashjaee, Javad, Rapoport, Lev B., Gribkov, Mikhail, Gribkov, Alexander
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US12/871,705
• Publication Number:
  US 20120050099A1
• Time in Patent Office: 547 Days
• Field of Search: 342/357.23, 342/357.3, 342/357.34, 348/116, 348135-142, 382/106, 382/275, 382286-287
• US Class Current: 342/357.23
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A handheld GNSS device for determining position data for a point of interest is provided. The device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing for displaying image data and orientation data to assist a user in positioning the device. The device further includes a GNSS antenna and at least one communication antenna, both integral with the housing. The GNSS antenna receives position data from a plurality of satellites. One or more communication antennas receive positioning assistance data related to the position data from a base station. The GNSS antenna has a first antenna pattern, and the at least one communication antenna has a second antenna pattern. The GNSS antenna and the communication antenna(s) are configured such that the first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data of the housing based upon a position of the housing related to the horizon, imaging circuitry for obtaining image data concerning the point of interest for display on the display screen, and positioning circuitry, coupled to the at least one receiver, the imaging circuitry, and the orientation circuitry, for determining a position for the point of interest based on at least the position data, the positioning assistance data, the orientation data, and the image data.

Claims

1. A computer-implemented method for determining a position of a point of interest by a handheld device, the computer-implemented method comprising:

receiving image data from at least one image sensor;

receiving orientation data from at least one orientation sensor;

causing a display, on the device, of a representation of the image data and the orientation data to assist a user in positioning the device;

receiving position data, by a GNSS antenna, from a plurality of satellites;

receiving positioning assistance data, by at least one communication antenna, from a reference station;

determining a GNSS antenna height estimation based on the image data;

determining an alignment error associated with the handheld device and the point of interest based on the image data; and

determining a position of the point of interest based at least on the position data, the positioning assistance data, the orientation data, the antenna height estimation, and the alignment error.

2. The computer-implemented method of claim 1, wherein the GNSS antenna height estimation is determined based on analyzing pixels of the image data.

3. The computer-implemented method of claim 1, wherein the alignment error is determined based on analyzing pixels of the image data.

4. The computer-implemented method of claim 1, wherein the positioning assistance data includes raw position data of the base station for comparing with the position data received by the GNSS antenna to determine the position of the point of interest.

5. The computer-implemented method of claim 1, wherein the positioning assistance data includes correction data for compensating for errors in the position data in determining the position of the point of interest.

6. A non-transitory computer-readable medium encoded with executable instructions for determining a position of a point of interest by a handheld device, the instructions comprising instructions for:

receiving image data from at least one image sensor;

receiving orientation data from at least one orientation sensor;

causing a display, on the device, of a representation of the image data and the orientation data to assist a user in positioning the device;

receiving position data, by a GNSS antenna, from a plurality of satellites;

receiving positioning assistance data, by at least one communication antenna, from a reference station;

determining a GNSS antenna height estimation based on the image data;

determining an alignment error associated with the handheld device and the point of interest based on the image data; and

determining a position of the point of interest based at least on the position data, the positioning assistance data, the orientation data, the antenna height estimation, and the alignment error.

7. The computer-readable medium of claim 6, wherein the GNSS antenna height estimation is determined based on analyzing pixels of the image data.

8. The computer-readable medium of claim 6, wherein the alignment error is determined based on analyzing pixels of the image data.

9. The computer-readable medium of claim 6, wherein the positioning assistance data includes raw position data of the base station for comparing with the position data received by the GNSS antenna to determine the position of the point of interest.

10. The computer-readable medium of claim 6, wherein the positioning assistance data includes correction data for compensating for errors in the position data in determining the position of the point of interest.