Enhanced position measurement systems and methods

• US 9,182,229 B2
• Filed: 12/21/2011
• Issued: 11/10/2015
• Est. Priority Date: 12/23/2010
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Grsser, Christian, Kistler, Peter Cornelius, Greenberg, James, Johnson, Rod, Westermark, Magnus
• Primary Examiner(s): Feliciano, Eliseo Ramos
• Assistant Examiner(s): STIFTER JR, TERENCE E
• Application Number:
  US13/332,648
• Publication Number:
  US 20120166137A1
• Time in Patent Office: 1,420 Days
• Field of Search: 702/150
• US Class Current: 1/1
• CPC Class Codes: G01C 1/02 Theodolites
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers

Abstract

Novel solutions for position measurement, including without limitation tools and techniques that can be used for land surveying and in similar applications. One such tool is a greatly enhanced position measurement system that takes the form of a surveying rod with substantial independent functionality, which can be used with or without a total station or similar device.

Claims

1. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a sensing subsystem coupled with the rod, the sensing subsystem comprising;

a global navigation satellite system (“

GNSS”

) device for obtaining GNSS data;

an azimuth determination device for determining an azimuth from the position measurement system to an object of interest;

a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; and

a data storage device for storing data obtained by the sensing subsystem; and

an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising;

a plurality of first cameras; and

a plurality of second cameras;

wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view;

wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and

wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view;

wherein the azimuth determination device;

receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;

calculates an image-based azimuth to the object of interest, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras;

calculates at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and

selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth.

2. The position measurement system of claim 1, wherein the azimuth determination device determines an azimuth of tilt of the position measurement system.

3. The position measurement system of claim 1, further comprising an electronic display in communication with the tilt sensor, the electronic display simulating a bullseye spirit bubble, the electronic display displaying a bubble image and a ring image, with the relative position of the bubble and the ring being based on the tilt data.

4. The position measurement system of claim 3, wherein the size of the bubble image relative to the size of the ring image is dependent on quality of the azimuth.

5. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

an imaging subsystem coupled with the rod, the imaging subsystem comprising a plurality of first cameras and a plurality of second cameras, to capture an image of at least a portion of a landscape surrounding the position measurement system, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view;

an azimuth determination device configured to;

receive, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;

calculate an image-based azimuth to a target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras;

calculate at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and

select a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least additional azimuth; and

a control system in communication with the imaging subsystem, the control system comprising a processor and a computer readable medium having encoded thereon a set of instructions executable by the processor, wherein the control system;

determines a position of the position measurement system;

receives an image from the imaging subsystem;

orients the received image with regard to a frame of reference, based at least in part on the position of the position measurement system;

determines a coordinate position of an object point using the received image; and

stores the determined coordinate position of the object point.

6. The position measurement system of claim 5, wherein, to orient the image, the control system:

analyzes a plurality of reference images, each of the reference images having been captured from a different position than the position of the position measurement system, each of the reference images having at least a portion of a field of view in common with a field of view of the received image;

identifies one or more common reference points in the one or more reference images;

identifies the one or more reference points in the received image; and

calculates a tilt and azimuth of the received image, based on locations of the one or more reference points in the received image.

7. The position measurement system of claim 6, wherein the one or more reference points comprise three or more tie points without known locations, and wherein the one or more reference images are captured from known positions.

8. The position measurement system of claim 6, wherein the one or more reference points comprise a back sight point having a known position.

9. The position measurement system of claim 6, wherein to determine a coordinate position of an object point, the control system:

identifies a first pixel coordinate of the object point in the received image captured at the determined position of the position measurement system;

identifies a second pixel coordinate of the object point in a reference image captured at a second, known position of the position measurement system, the second position being a different position than the determined position of the position measurement system;

calculates a first ray from the first pixel coordinate through a projection center of the imaging subsystem;

calculates a second ray from the second pixel coordinate through the projection center of the imaging subsystem; and

determines a coordinate of an intersection point of the first ray and the second ray.

10. The position measurement system of claim 9, wherein the reference image has a known orientation.

11. The position measurement system of claim 9, wherein:

the reference image is a first reference image;

to determine a coordinate position of the object point, the control system further;

identifies a third pixel coordinate of the object point in a second reference image captured at a third, known position of the position measurement system, the third position being a different position than the determined position of the position measurement system and the second position of the position measurement system; and

calculates a third ray from the third pixel coordinate through a projection center of the imaging subsystem;

to determine a coordinate of an intersection point, the control system determines a coordinate of an intersection point of the first ray, the second ray, and the third ray; and

the orientations of the first reference image and the second reference image are not known.

12. The position measurement system of claim 5, further comprising a sensing subsystem, wherein the control system orients the received image based at least in part on data received from the sensing subsystem.

13. The position measurement system of claim 12, wherein the sensing subsystem comprises a tilt sensor, and wherein the data received from the sensing subsystem comprises azimuth data regarding an azimuth of the imaging subsystem and tilt data regarding a vertical angle of the rod.

14. The position measurement system of claim 13, wherein, to orient the received image, the control system:

analyzes one or more reference images, each of the one or more reference images having been captured from a different location than the position of the position measurement system, each of the reference images having at least portion of a field of view in common with a field of view of the received image;

identifies one or more common reference points in the one or more reference images;

identifies the one or more reference points in the received image;

calculates an azimuth of the received image, based on locations of the one or more reference points in the received image; and

calculates a tilt of the received image based at least in part on the tilt data.

15. The position measurement system of claim 14, wherein, to determine a coordinate position of an object point, the control system:

identifies a first pixel coordinate of the object point in the received image captured at the determined position measurement system;

identifies a second pixel coordinate of the object point in a reference image captured at a second, known position of the position measurement device, the second position being a different position than the determined position of the position measurement system;

calculates a first ray from the first pixel coordinate through a projection center of the imaging subsystem;

calculates a second ray from the second pixel coordinate through the projection center of the imaging subsystem; and

determines an intersection point of the first ray and the second ray.

16. The position measurement system of claim 12, wherein the sensing subsystem comprises a position determination device, and wherein the data received from the sensing subsystem comprises position data regarding a position of the position measurement system.

17. The position measurement system of claim 16, wherein the position data specifies a position of an upper portion of the rod, wherein the sensing subsystem further comprises a tilt sensor that provides vertical angle data regarding a vertical angle of the rod and an azimuth determination device that provides tilt azimuth data regarding an azimuth of tilt of the rod, and wherein, to determine a position of the position measurement system, the control system:

receives the position data; and

calculates a position of the base of the rod based on the position data, a known distance from the upper portion to the base of the rod, the vertical angle data and the tilt azimuth data.

18. The position measurement system of claim 16, wherein the position determination device comprises a global navigation satellite system (“

GNSS”

) receiver.

19. The position measurement system of claim 16, wherein the position determination device comprises user interface for an operator to provide user input indicating a position of the position measurement system.

20. The position measurement system of claim 16, wherein the position determination device comprises a radio for receiving position data from a total station.

21. The position measurement system of claim 20, wherein the position determination device further comprises an optical target configured to reflect a beam of light emitted from the total station.

22. The position measurement system of claim 16, wherein the position determination device comprises an electronic distance measurement (“

EDM”

) system and an azimuth determination device, and wherein the position data comprises distance data regarding a distance to a known reference point and azimuth data to the known reference point.

23. The position measurement system of claim 5, wherein, to determine a position of the position measurement system, the control system:

identifies a first pixel coordinate of a first reference point captured in the received image, the first reference point having a known position;

identifies a second pixel coordinate of a second reference point captured in the received image, the second reference point having a known position;

identifies a third pixel coordinate of a third reference point captured in the received image, the third reference point having a known coordinate position;

calculates a first ray from the first pixel coordinate through a projection center of the imaging subsystem;

calculates a second ray from the second pixel coordinate through a projection center of the imaging subsystem;

calculates a third ray from the third pixel coordinate through a projection center of the imaging subsystem; and

determines an intersection point of the first ray, the second ray, and the third ray.

24. The position measurement system of claim 5, wherein the imaging subsystem further comprises a plurality of illumination devices.

25. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a sensing subsystem coupled with the rod, the sensing subsystem comprising an electronic distance measurement (“

EDM”

) system, the EDM system comprising an emitter, the sensing subsystem further comprising a vertical angle sensor that determines a vertical angle of the emitter and an azimuth determination device;

an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, the imaging subsystem comprising a plurality of first cameras and a plurality of second cameras, to capture an image of at least a portion of a landscape surrounding the position measurement system, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; and

a control system in communication with the sensing subsystem and the imaging subsystem, the control system comprising a processor and a computer readable medium having encoded thereon a set of instructions executable by the processor to cause the control system to perform one or more operations, wherein the control system;

determines a position of the position measurement system;

receives, from the sensing subsystem, distance data regarding a measured distance from the position measurement system to an object of interest;

receives, from the sensing subsystem, vertical angle data regarding a vertical angle of the emitter;

determines a position of the object of interest, based at least in part on the position of the position measurement system, the distance data, and the vertical angle data;

wherein the azimuth determination device;

receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;

calculates an image-based azimuth to the object of interest, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras;

calculates at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and

selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth.

26. The position measurement system of claim 25, wherein:

to determine a position of the object of interest, the control system determines a position of the object of interest based on the distance data, the vertical angle data, and the preferred azimuth.

27. The position measurement system of claim 25, wherein:

to receive distance data, the control system receives first distance data regarding a first measured distance from the position measurement system at a first station to the object of interest and receives second distance data regarding a second measured distance from the position measurement system at a second station to the object of interest; and

to receive vertical angle data, the control system receives first vertical angle data regarding a first vertical angle of the emitter at the first station and receives second vertical angle data regarding a second vertical angle of the emitter at the second station.

28. The position measurement system of claim 27, further comprising a display device, and wherein, to determine a position of the object of interest the control system:

display, displays, with the display device, a plurality of calculated possible positions of the object of interest; and

receives user input specifying which of the plurality of calculated possible positions of the object of interest should be selected as the position of the object of interest.

29. The position measurement system of claim 27, wherein, to determine a position of the object of interest, the control system selects, from among a plurality of calculated possible positions of the object of interest, a selected position of the object of interest, based at least in part on azimuth data, based on the preferred azimuth, received from the azimuth determination device.

30. The position measurement system of claim 25, further comprising a support device, the support device comprising a first end portion coupled with the rod and a second end portion extendable laterally from the base of the rod, for supporting the position measurement system in a generally vertical orientation.

31. The position measurement system of claim 30, wherein the support device enhances the rotational stability of the rod to facilitate focusing the beam of light on the object point.

32. The position measurement system of claim 31, wherein the first end portion of the support device comprises a sleeve that encloses a circumferential perimeter of a portion of the rod, the sleeve being in mechanical communication with the portion of a rod through a high-viscosity material that imposes rotational friction between the sleeve and the portion of the rod.

33. The position measurement system of claim 30, wherein the first end portion is configured to move along an axis of the rod, allowing the rod to be tilted while the second end portion maintains contact with the ground.

34. The position measurement system of claim 25, wherein the EDM system is rotatable about an axis normal to the longitudinal axis of the rod, and wherein the emitter is eccentric to the normal rotational axis of the EDM system, such that the emitter can be rotated to point downward and upward parallel to the longitudinal axis of the rod.

35. The position measurement system of claim 34, wherein the EDM system comprises a vertical angle encoder that detects an angle of the emitter relative to the longitudinal axis of the rod, wherein the sensing subsystem further comprises a tilt sensor that produces tilt data regarding a tilt of the rod, and wherein the vertical angle sensor comprises the vertical angle encoder and the tilt sensor, such that the vertical angle data comprises a combination of (i) the angle of the emitter relative to the longitudinal axis of the rod and (ii) the tilt data.

36. The position measurement system of claim 25, wherein the EDM system includes a camera to facilitate aiming the emitter at the object point.

37. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a sensing subsystem coupled with the rod, the sensing subsystem comprising;

a global navigation satellite system (“

GNSS”

) device for obtaining GNSS data;

an azimuth determination device for determining an azimuth from the position measurement system to an object of interest, wherein the azimuth determination device comprises a compass for obtaining compass orientation data about the position measurement system and a gyroscope for obtaining gyroscopic orientation data about the position measurement system;

a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; and

a data storage device for storing data obtained by the sensing subsystem; and

an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, the imaging subsystem comprising a plurality of first cameras and a plurality of second cameras, to capture an image of at least a portion of a landscape surrounding the position measurement system, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view;

wherein the azimuth determination device;

receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;

calculates a true compass azimuth to the target object, based at least in part on the compass orientation data;

calculates a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data;

calculates an image-based azimuth to the target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; and

selects a preferred azimuth to the target object, based at least in part on the true compass azimuth, the gyroscopic azimuth, and the image-based azimuth; and

adjusts the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth.

38. The position measurement system of claim 37, wherein the gyroscope is used to perform error correction on the compass orientation data.

39. A position measurement system, comprising:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a sensing subsystem coupled with the rod, the sensing subsystem comprising;

a global navigation satellite system (“

GNSS”

) device for obtaining GNSS data;

a compass for obtaining compass orientation data about the position measurement system;

a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system;

a gyroscope for obtaining gyroscopic data about a relative orientation of the position measurement system;

a data storage device for storing data obtained by the sensing subsystem; and

a first communication interface;

an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising;

a plurality of first cameras; and

a plurality of second cameras;

wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view;

wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and

wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; and

a control subsystem in communication with the sensing subsystem, the control subsystem comprising;

a second communication interface for communicating with the first communication interface;

a display device;

an input device;

a processor; and

a computer readable storage medium having encoded thereon a set of instructions executable by the processor, wherein the control subsystem;

receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;

calculates an image-based azimuth to a target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras;

calculates at least one additional azimuth other than the image-based azimuth, based on one or more of the compass orientation data or the gyroscopic data; and

selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth.

40. The position measurement system of claim 39, wherein the control subsystem further:

establishes communication between the second communication interface and the first communication interface;

receives from the sensing subsystem, GNSS data, compass orientation data, tilt data, and gyroscopic data;

calculates a true compass azimuth to the target object, based at least in part on the compass orientation data;

calculates a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data;

adjusts the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth; and

displays on the display device, information about the selected azimuth;

wherein the control subsystem selects the preferred azimuth based at least in part on the image-base azimuth, the true compass azimuth and the gyroscopic azimuth.

41. The position measurement system of claim 39, wherein the rod has a longitudinal length between approximately 1.5 meters and approximately 3.0 meters.

42. The position measurement system of claim 39, wherein the control subsystem is removably coupled with the rod.

43. The position measurement system of claim 39, wherein the display device comprises a touch screen.

44. The position measurement system of claim 43, wherein the input device comprises the touch screen.

45. The position measurement system of claim 39, further comprising:

a prism movably coupled with the rod to allow the prism to be moved along at least a portion of the longitudinal axis of the rod.

46. The position measurement system of claim 39, wherein the GNSS device is coaxial with the image capture subsystem.

47. The position measurement system of claim 39, wherein at least one of the plurality of first cameras or the plurality of second cameras collectively has a panoramic field of view of at least about 50 degrees.

48. The position measurement system of claim 47, wherein at least one of the plurality of first cameras or the plurality of second cameras collectively has a panoramic field of view of at least about 170 degrees.

49. The position measurement system of claim 47, wherein at least one of the plurality of first cameras or the plurality of second cameras collectively has a panoramic field of view of at least about 350 degrees.

50. The position measurement system of claim 47, wherein at least one of the plurality of first cameras or the plurality of second cameras collectively has a panoramic field of view of about 360 degrees.

51. The position measurement system of claim 39, wherein the plurality of first cameras comprises seven cameras collectively having a panoramic field of view of 360 degrees and a vertical field of view starting on the ground approximately five meters from the base of the position measurement device and extending to approximately twenty degrees above the horizon to cover vertical objects.

52. The position measurement system of claim 39, wherein the plurality of second cameras comprises five cameras having a panoramic field of view of approximately 180 degrees and a field of view of the ground surface extending from approximately 0.6 meters to approximately six meters from the base of the position sensing device.

53. The position measurement system of claim 39, wherein the control subsystem further:

displays, on the display screen, a plan view of a job site, the plan view illustrating areas of photogrammetric coverage of which one or more images have been captured.

54. The position measurement system of claim 53, wherein the control subsystem further:

displays, on the display screen, an overlay depicting a strength of photogrammetric coverage of one or more regions of the job site.

55. The position measurement system of claim 39, wherein the control subsystem further:

displays, on the display screen, an image captured by at least one of one or more of the plurality of first cameras or one or more of the plurality of second cameras.

56. The position measurement system of claim 55, wherein the control subsystem further:

receives input selecting a point in the captured image as a target point.

57. The position measurement system of claim 56, wherein the target point is an object point or a reference point.

58. The position measurement system of claim 56, wherein display device comprises a touch screen, and wherein the input comprises input selecting a portion of the touch screen corresponding to the point in the captured image.

59. The position measurement system of claim 58, further comprising:

an electronic distance measurement (“

EDM”

) subsystem coupled with the rod and in communication with the control system; and

a vertical angle sensor configured to determine a vertical angle of the EDM subsystem.

60. The position measurement system of claim 59, wherein the control subsystem further:

receives vertical angle data from the vertical angle sensor;

operates the EDM subsystem to measure a distance to the target point from the position measurement system; and

calculates a position of the target point, based at least in part on the preferred azimuth, the vertical angle, and the distance to the target point.

61. The position measurement system of claim 39, wherein the first and second communication interfaces are wireless communication interfaces.

62. The position measurement system of claim 61, wherein the first and second communication interfaces each comprise a wireless communication device selected from the group consisting of a Bluetooth transceiver, a wireless local area network (“

WLAN”

) radio, a cellular radio, and a wireless wide area network (“

WWAN”

) radio.

63. A method comprising:

situating a position measurement system at a chosen location, the position measurement system comprising;

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a sensing subsystem coupled with the rod, the sensing subsystem comprising;

a global navigation satellite system (“

GNSS”

) device for obtaining GNSS data;

a compass for obtaining compass orientation data about the position measurement system;

a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system;

a gyroscope for obtaining gyroscopic data about a relative orientation of the position measurement system; and

a data storage device for storing data obtained by the sensing subsystem;

an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising;

a plurality of first cameras; and

a plurality of second cameras;

wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view;

wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and

wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; and

a control subsystem, in communication with the sensing subsystem, for controlling operation of the sensing subsystem;

establishing communication between the control subsystem and the sensing subsystem;

receiving, from the sensing subsystem, GNSS data, compass orientation data, tilt data, and gyroscopic data;

receiving, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;

calculating a true compass azimuth to the target object, based at least in part on the compass orientation data;

calculating a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data;

calculating an image-based azimuth to the target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras;

selecting a preferred azimuth to the target object, based at least in part on the true compass azimuth, the gyroscopic azimuth, and the image-based azimuth;

adjusting the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth; and

displaying, on the display device, information about the selected azimuth.

64. The method of claim 63, further comprising:

calibrating the position measurement system.

65. An apparatus, comprising:

a non-transitory computer readable medium having encoded thereon a set of instructions executable by one or more processors to cause a computer system to;

establish communication between the computer system and each of a sensing subsystem of a position measurement system and an imaging subsystem of the position measurement system, wherein the imaging subsystem comprises a plurality of first cameras and a plurality of second cameras, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view;

receive, from the sensing subsystem, GNSS data, compass orientation data, tilt data, and gyroscopic data;

receive, from the imaging subsystem, image data obtained from by at least one camera of the plurality of first and second cameras;

calculate a true compass azimuth to the target object, based at least in part on the compass orientation data;

calculate a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data;

calculate an image-based azimuth to the target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras

select a preferred azimuth to the target object, based at least in part on the true compass azimuth, the gyroscopic azimuth, and the image-based azimuth;

adjust the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth; and

cause the display, on a display device, of information about the selected azimuth.