Graphics-aided remote position measurement with handheld geodesic device

• US 9,250,328 B2
• Filed: 09/30/2009
• Issued: 02/02/2016
• Est. Priority Date: 09/30/2009
• Status: Active Grant

• Current Assignee: Javad GNSS, Inc.
• Original Assignee: Javad GNSS, Inc.
• Inventors: Ashjaee, Javad, Gribkov, Mikhail, Rapoport, Lev
• Primary Examiner(s): Rush, Eric
• Application Number:
  US12/571,244
• Publication Number:
  US 20110075886A1
• Time in Patent Office: 2,316 Days
• Field of Search: 382/100, 382/103, 382/106, 382/107, 382/307, 382/312, 382/313, 382/321, 382/325, 342/104, 342106-109, 342/118, 342/123, 342/126, 342139-147, 342/175, 342/176, 342/179, 342/350, 342/352, 342/357.2, 34235722-35744, 34235763-35765, 342/357.71, 342/450, 342/458, 342/462
• US Class Current: 1/1
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 11/30 by triangulation
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 15/02 Means for marking measuring points
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01C 15/08 Plumbing or registering staffs or markers over ground marks
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01S 19/01 Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/97 Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85

Abstract

A graphics-aided geodesic device is provided. The device may include a display, camera, distance meter, GNSS (Global Navigation Satellite System, including GPS, GLONASS, and Galileo) receiver and antenna, and horizon sensors. Data from the camera and horizon sensors may be displayed to assist the user in positioning the device over a point of interest. In one example, the distance meter may be used to determine the position of the point of interest. In another example, images of the point of interest taken from multiple locations may be used to determine the position of the point of interest.

Claims

1. A computer-implemented method of determining a position of a point of interest using a device having an antenna, a downwardly facing image sensor, at least one orientation sensor and a display, said method comprising:

positioning the device above the point of interest so the point of interest is captured by the downwardly facing image sensor;

receiving, at the antenna, position data from a plurality of satellites;

receiving image data from the downwardly facing image sensor, said image data including the point of interest;

receiving orientation data from the at least one orientation sensor, said orientation data corresponding to the pitch and roll of the device with respect to the horizon;

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

determining an angle between a reference line and a vector pointing to the point of interest based on the image data;

generating a mathematical representation of a first cone based on the position data and the orientation data, wherein the first cone comprises an axis and a surface, and wherein an angle between the axis and the surface corresponds to the angle between the reference line and the vector pointing to the point of interest; and

determining the geographical position of the point of interest using a cone intersection algorithm on a set of multiple cones, wherein the set of multiple cones includes the first cone.

2. The method of claim 1, wherein:

an apex of the first cone corresponds to a position of an optical center of the downwardly facing image sensor; and

the reference line corresponds to an optical axis of the downwardly facing image sensor.

3. The method of claim 1, wherein:

an apex of the first cone corresponds to a position of an antenna phase center of the antenna.

4. The method of claim 1, wherein determining the position of the point of interest is in response to receiving a measurement command.

5. The method of claim 1, wherein the method further comprises tracking a location of the point of interest in the display using the image data, and wherein determining the position of the point of interest is in response to:

the location of the point of interest in the display being within a predetermined distance from a predetermined point in the display; and

the orientation data being within a predetermined range of values.