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Synchronization of the orientation of a 3D measurement device and the orientation of an intelligent guidance device

  • US 8,872,889 B2
  • Filed: 01/14/2010
  • Issued: 10/28/2014
  • Est. Priority Date: 01/14/2010
  • Status: Active Grant
First Claim
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1. A method for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM, with an intelligent guidance device (IGD) separate from the 3DM, the IGD having a display device, a gravity direction measurement device, an electronic compass, and an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the method comprising:

  • defining a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth and a direction corresponding to a magnetic north pole as YIGD-Earth, from a perspective of the IGD by;

    measuring a direction of gravity using the gravity direction measurement device and defining a vector ZIGD-Earth as opposite to the direction of gravity;

    measuring a direction of North magnetic pole using the electronic compass and defining a vector YIGD-Earth pointing in the North magnetic pole direction; and

    computing a vector product of YIGD-Earth and ZIGD-Earth defining vector XIGD-Earth;

    computing and applying a rigid transformation TIGD-To-IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth;

    defining a coordinate system O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth using a direction opposite to gravity as Z3DM-Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth, from a perspective of the 3DM; and

    computing and applying a rigid transformation T3DM-To-3DMEarth to transform O3DM, X3DM, Y3DM, and Z3DM to O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth , such that XIGD-Earth and X3DM-Earth are substantially parallel and point in a first direction, YIGD-Earth and Y3DM-Earth are substantially parallel and point in a second direction, and ZIGD-Earth and Z3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM.

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