Integrated image transfer for remote target location

• US 5,568,152 A
• Filed: 02/04/1994
• Issued: 10/22/1996
• Est. Priority Date: 02/04/1994
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Janky, James M., Schipper, John F., Loomis, Peter V. W.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/191,815
• Time in Patent Office: 991 Days
• Field of Search: 342/357, 342/450, 342/465, 342/458, 89/41.05, 89/41.06, 89/41.07, 89/41.17
• US Class Current: 342/357.68
• CPC Class Codes: F41G 3/02 using an independent line of sight
• CPC Class Codes: F41G 3/06 with rangefinder rangefinders per se G01C
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station

Abstract

Apparatus and method for accurately determining the location of an target or other designated object by an observer that is spaced apart from the object. The observer views the target through a viewer and rangefinder and determines the distance of the target from the observer. The observer determines its own location coordinates, and the angular orientation of the rangefinder relative to a selected line or plane, using Satellite Positioning System (SATPS) signals (such as GPS or GLONASS signals) received by three SATPS antennas and processed by a common SATPS receiver/processor. The SATPS receiver/processor then determines the displacement or offset coordinates of the target relative to the observer and displays the target coordinates on the target image seen in the viewer. The target location coordinates and/or the visual image of the target seen in the viewfinder are transmitted to a control station for subsequent use. A fourth SATPS antenna, with antenna location coordinates that are determined by the location coordinates of the other three SATPS antennas, is provided for antenna backup and/or for checking the accuracy of the SATPS-determined locations of the other three SATPS antennas. Differential SATPS techniques can be used to enhance the accuracy of the SATPS antenna locations. In one embodiment, the rangefinder can be deleted.

Claims

1. A handheld system for accurately determining the location of an object by an observer that is spaced apart from the object, the system comprising:

viewer means having a boresight and image viewer, for allowing an observer to view a designated object that is spaced apart from the observer along a line of sight from the observer to the object and for issuing an output image signal containing the visual image of the object sensed by the viewer means;

position determination means, attached to the viewer means, for determining the angular orientation of a selected line in a selected plane containing the position determination means and for determining the location of a selected point in the selected plane, the position determination means comprising;

at least three SATPS signal antennas, numbered 1, 2, 3 and arranged non-collinearly in the selected plane, to each receive SATPS signals from three or more SATPS satellites and to issue these signals as antenna output signals, where antenna i is located at a selected positive distance L(i,j) from antenna j (i≠

j;

i,j=1, 2,

     3) and L(i,j) does not exceed one half meter; and

an SATPS signal receiver/processor that receives and processes the SATPS signals received by the SATPS antennas, that determines location coordinates of each SATPS antenna, that determines an azimuthal angle φ and

a polar angle θ

of the observer-object line of sight relative to the selected plane and the selected line, that receives the viewer means output image signal, that determines location coordinates of the object, and that issues the object location coordinates as an output location signal;

wherein the object is located on a known, single-valued two-dimensional surface that is approximately represented locally in a Cartesian coordinate system (x, y, z) by a first relation

space="preserve" listing-type="equation">z=h(x,y)

in the receiver/processor, wherein location coordinates for the observer in this local Cartesian coordinate system are known and are given by (x_r, y_r, z_r), wherein location coordinates (x_O, y_O, z_O) of the object are determined by simultaneously solving this first relation and the three relations given by

space="preserve" listing-type="equation">(x.sub.O -x.sub.r)/(sin φ

)(sin θ

)=S,

space="preserve" listing-type="equation">(y.sub.O -y.sub.r)/(cos φ

)(sin θ

)=S,

space="preserve" listing-type="equation">(z.sub.O -z.sub.r)/(cos θ

)=(h(x.sub.O, y.sub.O)-z.sub.r)(cos θ

)=S,

for the values of the variables x_O, y_O, z_O and s, wherein the quantity s represents a calculated distance between the viewer means and the object; and

display means for receiving the output image signal and the output location signal and for displaying a visual image of the object sensed by the viewer means, with at least one of the set of object location coordinates and the set of viewer means location coordinates being superimposed on this visual image.

2. The system of claim 1, further comprising communication means connected to said SATPS receiver/processor for transmitting at least one of said output image signal and said output location signal to a selected receiver that is spaced apart from said viewer means.

3. The system of claim 1, further comprising toggle means, connected to said display means and having first and second positions, for causing said display means to display said set of object location coordinates and to display said set of viewer means location coordinates, superimposed on said visual image, when the toggle means is in the first position and in the second position, respectively.