Laser based reflectors for GPS positioning augmentation

• US 5,949,371 A
• Filed: 07/27/1998
• Issued: 09/07/1999
• Est. Priority Date: 07/27/1998
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Nichols, Mark Edward
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): PHAN, DAO LINDA
• Application Number:
  US09/123,567
• Time in Patent Office: 407 Days
• Field of Search: 342/352, 342/357, 342/457, 701/213, 455/12.1
• US Class Current: 342/357.27
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

The mobile unit equipped with the satellite positioning system augmented by the laser positioning system is disclosed. The usage of the satellite positioning system allows the user to determine the coordinate of the laser reflectors prior to the range measurements. The range measurements are performed by the navigational computer using the laser scanning and rotating beam to obtain the range data between the mobile unit and a plurality of laser reflectors, and using the satellite positioning system to obtain the range data between the mobile unit and a plurality of visible navigational satellites. The obtained range data and the laser reflector coordinate data allows the user to perform the navigation of the mobile unit.

Claims

1. An integrated satellite-laser positioning system comprising:

a mobile unit;

wherein said mobile unit further comprises;

a scanning and rotating laser beacon generating a laser beam;

a satellite positioning system (SATPS) further comprising

a SATPS receiver; and

a SATPS antenna; and

an integrated SATPS/laser navigational computer; and

a plurality of targets;

wherein said plurality of targets further comprises;

a plurality of SATPS satellites further comprising a plurality of visible SATPS satellites; and

a plurality of laser reflectors further comprising a plurality of visible laser reflectors;

wherein said mobile unit detects a range information between said mobile unit and each said visible target;

and wherein said integrated SATPS/laser navigational computer utilizes aid range information between said mobile unit and each said visible SATPS satellite and each said visible laser reflector to obtain said mobile unit positional information.

2. The integrated satellite-laser positioning system of claim 1;

wherein said mobile unit further comprises;

a scanning and rotating laser beacon generating a laser beam;

a GPS navigational system further comprising

a GPS receiver; and

a GPS antenna; and

an integrated GPS/laser navigational computer;

and wherein said plurality of targets further comprises;

a plurality of GPS satellites further comprising a plurality of visible GPS satellites; and

a plurality of laser reflectors further comprising a plurality of visible laser reflectors, wherein each said visible laser reflector is placed in a location with known coordinates;

and wherein said integrated GPS/laser navigational computer utilizes range information between said mobile unit and each said visible GPS satellite, and range information between said mobile unit and each said visible laser reflector to obtain said mobile unit positional information.

3. The integrated satellite-laser positioning system of claim 1;

wherein said mobile unit further comprises;

a scanning and rotating laser beacon generating a laser beam;

a GLONASS navigational system further comprising

a GLONASS receiver; and

a GLONASS antenna; and

an integrated GLONASS/laser navigational computer;

and wherein said plurality of targets further comprises;

a plurality of GLONASS satellites further comprising a plurality of visible GLONASS satellites; and

a plurality of laser reflectors further comprising a plurality of visible laser reflectors, wherein each said visible laser reflector is placed in a location with known coordinates;

and wherein said integrated GLONASS/laser navigational computer utilizes range information between said mobile unit and each said visible GLONASS satellite, and range information between said mobile unit and each said visible laser reflector to obtain said mobile unit positional information.

4. The integrated satellite-laser positioning system of claim 1;

wherein said mobile unit further comprises;

a scanning and rotating laser beacon generating a laser beam;

a combined GPS/GLONASS navigational system further comprising

a combined GPS/GLONASS receiver; and

a combined GPS/GLONASS antenna; and

an integrated GPS/GLONASS/laser navigational computer;

and wherein said plurality of targets further comprises;

a plurality of combined GPS/GLONASS satellites further comprising a plurality of visible GPS/GLONASS satellites; and

a plurality of laser reflectors further comprising a plurality of visible laser reflectors;

and wherein each said visible laser reflector is placed in a location with known coordinates;

and wherein said integrated GPS/GLONASS/laser navigational computer utilizes range information between said mobile unit and each said visible GPS/GLONASS satellite, and range information between said mobile unit and each said visible laser reflector to obtain said mobile unit positional information.

5. The integrated satellite-laser positioning system of claim 1;

wherein said mobile unit further comprises;

a scanning and rotating laser beacon generating a laser beam;

a GPS pseudolite navigational system further comprising

a GPS pseudolite receiver; and

an integrated GPS/laser navigational computer;

and wherein said plurality of targets further comprises;

a plurality of GPS pseudolites; and

a plurality of laser reflectors further comprising a plurality of visible laser reflectors;

and wherein each said visible laser reflector is placed in a location with known coordinates;

and wherein said integrated GPS/laser navigational computer utilizes range information between said mobile unit and each said GPS pseudolite, and range information between said mobile unit and each said visible laser reflector to obtain said mobile unit positional information.

6. The integrated satellite-laser positioning system of claim 2;

wherein said plurality of GPS satellites further comprises;

at least two visible GPS satellites;

and wherein plurality of laser reflectors further comprises;

at least two visible stationary laser reflectors, wherein each said laser reflector is located in a known and fixed position;

and wherein said integrated GPS/laser navigational computer utilizes range information between said mobile unit and each said visible GPS satellite, and range information between said mobile unit and each said visible laser reflector to obtain said mobile unit three-dimensional positional information.

7. The integrated satellite-laser positioning system of claim 2;

wherein said plurality of GPS satellites further comprises;

at least two visible GPS satellites;

and wherein plurality of laser reflectors further comprises;

at least one visible stationary laser reflector, wherein each said laser reflector is located in a known and fixed position;

and wherein said integrated GPS/laser navigational computer utilizes range information between said mobile unit and each said visible GPS satellite, and range information between said mobile unit and each said visible laser reflector to obtain said mobile unit two-dimensional positional information.

8. The integrated satellite-laser positioning system of claim 6;

wherein said integrated GPS/laser navigational computer further comprises;

a database system capable of storing the coordinates of each said laser reflector; and

wherein said integrated GPS/laser navigational computer is capable of identifying each said visible laser reflector by using the range information between said mobile unit and each said visible laser reflector and the stored coordinates of each said visible laser reflector.

9. The integrated satellite-laser positioning system of claim 2;

wherein said plurality of GPS satellites further comprises;

at least two visible GPS satellites;

and wherein plurality of laser reflectors further comprises;

at least two visible known laser reflector, wherein each said visible known laser reflector is located in a known and fixed position; and

at least one visible unknown laser reflector, wherein each said visible unknown laser reflector is located in a position with unknown position coordinates;

and wherein said mobile unit utilizes the range data between said mobile unit and each said visible GPS satellite, and the range data between said mobile unit and each said visible known laser reflector in order to determine said mobile unit three-dimensional position coordinates; and

wherein said mobile unit utilizes its three-dimensional position coordinates measured in at least three different locations and the range data between said mobile unit placed in at least three different locations and each said visible unknown laser reflector to determine the three-dimensional coordinates of each said visible unknown laser reflector.

10. The integrated satellite-laser positioning system of claim 2;

wherein said plurality of GPS satellites further comprises;

at least two visible GPS satellites;

and wherein plurality of laser reflectors further comprises;

at least one visible known laser reflector, wherein each said visible known laser reflector is located in a known and fixed position; and

at least one visible unknown laser reflector, wherein each said visible unknown laser reflector is located in a position with unknown position coordinates;

and wherein said mobile unit utilizes the range data between said mobile unit and each said visible GPS satellite, and the range data between said mobile unit and each said visible known laser reflector in order to determine said mobile unit two-dimensional position coordinates; and

wherein said mobile unit utilizes its two-dimensional position coordinates measured in at least two different locations and the range data between said mobile unit placed in at least two different locations and each said visible unknown laser reflector to determine the two-dimensional coordinates of each said visible unknown laser reflector.

11. The integrated satellite-laser positioning system of claim 2;

wherein said plurality of GPS satellites further comprises;

at least three visible GPS satellites;

and wherein plurality of laser reflectors further comprises;

at least one visible unknown laser reflector, wherein each said visible unknown laser reflector is located in a position with unknown position coordinates;

and wherein said mobile unit utilizes the range data between said mobile unit and each said visible GPS satellite in order to determine said mobile unit position three-dimensional coordinates; and

wherein said mobile unit utilizes its three-dimensional position coordinates measured in at least three different locations and the range data between said mobile unit placed in at least three different locations and each said visible unknown laser reflector to determine the three-dimensional coordinates of each said visible unknown laser reflector.

12. The integrated satellite-laser positioning system of claim 9;

wherein said integrated GPS/laser navigational computer further comprises;

a database system capable of storing the coordinates of each said known visible laser reflector; and

wherein said integrated GPS/laser navigational computer is capable of adding coordinates of each said visible unknown laser reflector.

13. The integrated satellite-laser positioning system of claim 2;

wherein said plurality of GPS satellites further comprises;

at least two visible GPS satellites;

and wherein each said visible laser reflector placed in a position with known coordinates further comprises;

a laser reflector identification information (ID); and

an intelligent reflector (IR) capable of providing said ID upon reflecting said laser beam;

and wherein said integrated GPS/laser navigational computer utilizes said stored coordinates of each said visible laser reflector, each said visible laser reflector ID information, and said obtained range data between said mobile unit and each said visible laser reflector to identify each said visible laser reflector.

14. The integrated satellite-laser positioning system of claim 13;

wherein said integrated GPS/laser navigational computer further comprises;

a database system capable of storing the coordinates of each said laser reflector.

15. A method of navigation of a mobile unit comprising the steps of:

determining the range data between said mobile unit and at least two visible laser reflectors with known position coordinates;

determining the range data between said mobile unit and at least two visible navigational satellites; and

utilizing said range information for three-dimensional navigation of said mobile unit.

16. The method of claim 15, wherein said step of utilizing said range information for three-dimensional navigation of said mobile unit further includes the steps of:

placing at least one unknown visible laser reflector in a visible location with unknown coordinates;

determining three-dimensional coordinates of said mobile unit in at least three consecutive locations;

determining three-dimensional coordinates of each said visible unknown laser reflector;

making a new set of visible laser reflectors utilized for three-dimensional navigation purposes by replacing one said visible known laser reflector by one said visible unknown laser reflector; and

determining the three-dimensional coordinates of said mobile unit by measuring the range data between said mobile unit and each said visible satellite, and by measuring the range data between said mobile unit and each said visible laser reflector from said new set of visible laser reflectors.

17. A method of navigation of a mobile unit comprising the steps of:

determining the range data between said mobile unit and at least one visible laser reflectors with known position coordinates;

determining the range data between said mobile unit and at least two visible navigational satellites; and

utilizing said range information for two-dimensional navigation of said mobile unit.

18. The method of claim 17, wherein said step of utilizing said range information for two-dimensional navigation of said mobile unit further includes the steps of:

placing at least one unknown visible laser reflector in a visible location with unknown coordinates;

determining two-dimensional coordinates of said mobile unit in at least two consecutive locations;

determining two-dimensional coordinates of each said visible unknown laser reflector;

making a new set of visible laser reflectors utilized for two-dimensional navigation purposes by replacing one said visible known laser reflector by one said visible unknown laser reflector; and

determining the two-dimensional coordinates of said mobile unit by measuring the range data between said mobile unit and each said visible satellite, and by measuring the range data between said mobile unit and each said visible laser reflector from said new set of visible laser reflectors.

19. A method of navigation of a mobile unit comprising the steps of:

obtaining the range information between said mobile unit and a plurality of laser reflectors placed in locations with known coordinates, wherein each said laser rejector includes an intelligent reflector and ID;

obtaining the range information between said mobile unit and a plurality of visible navigational satellites; and

utilizing said range data and said laser ID data for navigation of said mobile unit.