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

• Current Assignee: Innovmetric Logiciels Inc.
• Original Assignee: Innovmetric Logiciels Inc.
• Inventors: Soucy, Marc, Duwe, Hans-Peter
• Primary Examiner(s): Dastouri, Mehrdad
• Assistant Examiner(s): RAHAMAN, MOHAMMED S
• Application Number:
  US12/687,820
• Publication Number:
  US 20110169925A1
• Time in Patent Office: 1,748 Days
• Field of Search: 348/42, 700 1-306
• US Class Current: 348/42
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence

Abstract

There is described a method to synchronize the orientation of an IGD 3D Coordinate System and the orientation of a 3DM 3D Coordinate System, in which the IGD'"'"'s gravity direction measurement device and electronic compass are used explicitly. There is also described how an IGD, once its orientation has been synchronized to the orientation of a 3DM, can be used to display 3D graphics that guide the measurement process.

Claims

1. A method for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O_3DM, X_3DM, Y_3DM, and Z_3DM, 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 O_IGD, X_IGD, Y_IGD, Z_IGD, the method comprising:

defining a coordinate system O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth using a direction opposite to gravity as Z_IGD-Earth and a direction corresponding to a magnetic north pole as Y_IGD-Earth, from a perspective of the IGD by;

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

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

computing a vector product of Y_IGD-Earth and Z_IGD-Earth defining vector X_IGD-Earth;

computing and applying a rigid transformation T_{IGD-To-IGDEarth} to transform O_IGD, X_IGD, Y_IGD, Z_IGD to O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth;

defining a coordinate system O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth using a direction opposite to gravity as Z_3DM-Earth and the direction corresponding to the magnetic north pole as Y_3DM-Earth, from a perspective of the 3DM; and

computing and applying a rigid transformation T_{3DM-To-3DMEarth} to transform O_3DM, X_3DM, Y_3DM, and Z_3DM to O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-_Earth , such that X_IGD-_Earth and X_3DM-Earth are substantially parallel and point in a first direction, Y_IGD-Earth and Y_3DM-Earth are substantially parallel and point in a second direction, and Z_IGD-Earth and Z_3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM.

2. The method of claim 1, wherein defining a coordinate system O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth comprises:

measuring a direction of gravity using the gravity direction measurement device and defining a vector Z_3DM-Earth as opposite to the direction of gravity;

measuring a direction of North magnetic pole using the electronic compass and defining a vector Y_3DM-Earth pointing in the North magnetic pole direction; and

computing a vector product of Y_3DM-Earth and Z_3DM-Earth defining vector X_3DM-Earth.

3. The method of claim 2, wherein measuring a direction of gravity from a perspective of the 3DM comprises using a gravity direction measurement device integrated in the 3DM to determine the direction of gravity.

4. The method of claim 2, wherein measuring a direction of the north magnetic pole from a perspective of the 3DM comprises using an electronic compass integrated in the 3DM.

5. The method of claim 1, further comprising defining a plane formed by Z_IGD-Earth and Y_IGD-Earth, and rotating one of Y_IGD-Earth and Z_IGD-Earth to make Z_IGD-Earth and Y_IGD-Earth perpendicular to each other.

6. The method of claim 4, wherein rotating one of Y_IGD-Earth and Z_IGD-Earth comprises using a smallest available positive angle of rotation.

7. The method of claim 1, further comprising defining a plane formed by Z_3DM-Earth and Y_3DM-Earth, and rotating one of Y_3DM-Earth and Z_3DM-Earth to make _Z3DM-Earth and Y_3DM-Earthperpendicular to each other.

8. The method of claim 7, wherein rotating one of Y_3DM-Earth and Z_3DM-Earth comprises using a smallest available positive angle of rotation.

9. The method of claim 1, further comprising:

monitoring a change in orientation of the IGD; and

when a change is detected, updating the rigid transformation T_{IGD-To-IGDEarth} by re-measuring gravity and north magnetic pole and re-applying the rigid transformation.

10. The method of claim 1, further comprising maintaining the synchronization of the 3DM and the IGD by:

applying an invert of the rigid transformation _{T3DM-To-3DMEarth} to the 3D coordinate system O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth and to the 3D coordinate system O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth; and

determining a new rigid 3D transformation transforming the internal 3DM coordinate system into another 3D coordinate system and applying the new rigid 3D transformation to the IGD coordinate system and the 3DM coordinate system.

11. A system for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O_3DM, X_3DM, Y_3DM, 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 O_IGD, X_IGD, Y_IGD, Z_IGD, the system comprising:

an IGD transformation module operatively connected to the IGD and adapted to define a coordinate system O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth using a direction opposite to gravity as Z_IGD-Earth as measured by the gravity direction measurement device and a direction corresponding to a magnetic north pole as Y_IGD-Earth as measured by the electronic compass, from a perspective of the IGD, and compute and apply a rigid transformation T_{IGD-To-IGDEarth} to transform O_IGD, X_IGD, Y_IGD, Z_IGD to O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth at least in part by computing a vector product of Y_IGD-Earth and Z_IGD-Earth to define vector X_IGD-Earth; and

a 3DM transformation module operatively connected to the 3DM and adapted to define a coordinate system O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth using a direction opposite to gravity as Z_3DM-Earth and the direction corresponding to the magnetic north pole as Y_3DM-Earth , from a perspective of the 3DM, compute and apply a rigid transformation T_{3DM-To-3DMEarth} to transform O_3DM, X_3DM, Y_3DM, and Z_3DM to O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth, such that X_IGD-Earth and X_3DM-Earth are substantially parallel and point in a first direction, Z_IGD-Earth and Y_3DM-_Earth are substantially parallel and point in a second direction, and Z_IGD-Earth and Z_3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM.

12. The system of claim 11, wherein the IGD transformation module is integrated inside the IGD.

13. The system of claim 11, wherein the 3DM transformation module is integrated inside the 3DM.

14. An intelligent guidance device having an internal 3D coordinate system O_IGD, X_IGD, Y_IGD, Z_IGD, the device comprising:

a gravity direction measurement device;

an electronic compass;

an IGD transformation module operatively connected to the IGD and adapted to define a coordinate system O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth using a direction opposite to gravity as Z_IGD-Earth as measured by the gravity direction measurement device and a direction corresponding to a magnetic north pole as Y_IGD-Earth as measured by the electronic compass, and to compute and apply a rigid transformation T_{IGD-To-IGDEarth} to transform O_IGD, X_IGD, Y_IGD, Z_IGD to O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth at least in part by computing a vector product of Y_{IGD-Earth And ZIGD-Earth} to define vector X_IGD-Earth;

and

a display device for displaying 3D graphics in a 3D coordinate system synchronized with a 3D coordinate system of a three-dimensional measurement device separate from the intelligent guidance device.

15. A 3D graphics measurement and display system comprising:

a three-dimensional measurement device (3DM) having an internal 3D coordinate system O_3DM, X_3DM, Y_3DM, and Z_3DM;

a 3DM transformation module operatively connected to the 3DM and adapted to define a coordinate system O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth, using a direction opposite to gravity as Z_{3DM -Earth} and the direction corresponding to the magnetic north pole as Y_3DM-Earth, from a perspective of the 3DM, compute and apply a rigid transformation T_{3DM-To-3DMEarth} to transform O_3DM, X_3DM, Y_3DM, and Z_3DM to O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth.

an intelligent guidance device (IGD) separate from the 3DM, the IGD having an internal 3D coordinate system O_IGD, X_IGD, Y_IGD, Z_IGD;

a gravity direction measurement device integrated in the IGD;

an electronic compass integrated in the IGD;

an IGD transformation module operatively connected to the IGD and adapted to define a coordinate system O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth using a direction opposite to gravity as Z_IGD-Earth as measured by the gravity direction measurement device and a direction corresponding to a magnetic north pole as Y_IGD-Earth as measured by the electronic compass, and to compute and apply a rigid transformation T_{IGD-To-IGDEarth} to transform O_IGD, X_IGD, Y_IGD, Z_{IGD to} O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth , Z_IGD-Earth, at least in part by computing a vector product of Y_IGD-Earth and Z_IGD-Earthto define vector X_IGD-Earthand such that X_IGD-Earth and X_{3DM- Earth} are substantially parallel and point in a first direction, Y_IGD-Earth and Y_3DM-Earth are substantially parallel and point in a second direction, and Z_IGD-Earth and Z_3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM; and

a display device on the IGD for displaying 3D graphics in a 3D coordinate system synchronized with a 3D coordinate system of a three-dimensional measurement device.

16. A non-transitory computer readable memory having recorded thereon statements and instructions for execution by a computer to carry out a method for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O_3DM, X_3DM, Y_3DM, and Z_3DM , 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 O_IGD, X_IGD, Y_IGD, Z_IGD, the statements and instructions being directed to:

defining a coordinate system O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGD-Earth using a direction opposite to gravity as Z_{IGD- Earth} and a direction corresponding to a magnetic north pole as Y_IGD-Earth, from a perspective of the IGD by;

measuring a direction of gravity using the gravity direction measurement device and defining a vector Z_IGD-Earthas opposite to the direction of gravity;

,

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

computing a vector product of Y_IGD-Eartand Z_IGD-Earthdefining vertor X_IGD-Earth;

computing and applying a rigid transformation T_{IGD-To- IGDEarth} to transform O_IGD, X_IGD, Y_IGD, Z_IGD to O_IGD-Earth, X_IGD-Earth, Y_IGD-Earth, Z_IGDEarth;

defining a coordinate system O_3DM-Earth, X_3DM-Earth, Y_3DM-Earth, Z_3DM-Earth using a direction opposite to gravity as Z_3DM-Earth and the direction corresponding to the magnetic north pole as Y_3DM-Earth, from a perspective of the 3DM; and

computing and applying a rigid transformation T_{3DM-To-3DMEarth} to transform O_3DM, X_3DM, Y_3DM, and Z_3DM to O_3DM-Earth, X_3DM-Earth, Y_3D-Earth, Z_{3DM -Earth}, such that X_IGD-Earth and X_3DM-Earth are substantially parallel and point in a first direction, Y_IGD-Earth and Y_3DM-Earth are substantially parallel and point in a second direction, and Z_IGD-Earth and Z_3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM.