System and method for acquiring geographic data for forming a digital database of road geometry in a geographic region

• US 5,999,878 A
• Filed: 04/11/1997
• Issued: 12/07/1999
• Est. Priority Date: 04/11/1997
• Status: Expired due to Term

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: Navigation Technologies Corp. (Nokia Corporation)
• Inventors: Hanson, John L., Shotz, Robert H.
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US08/834,652
• Time in Patent Office: 970 Days
• Field of Search: 701/208, 701/213, 701/215, 342/357, 342/457, 342/357.13, 342/357.03, 340/990, 340/995, 702/5
• US Class Current: 701/208
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 7/04 involving a vehicle which moves along the profile to be traced
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

A system and method for acquiring differentially corrected GPS data for forming a digital database of road geometry in a geographic region. A vehicle having a GPS receiver and a DGPS demodulator located therein is driven on roadways in the geographic region. The GPS receiver receives standard GPS signals and the DGPS demodulator receives DGPS signals which are used to correct the standard GPS signals. The corrected GPS signals are stored where they can be processed to create a digital database. Alternately a GPS receiver is positioned at a stationary location along with a portable DGPS demodulator. A vehicle having a GPS receiver located therein is driven on roadways in the geographic region. The GPS receiver at the stationary location is continuously operated and the DGPS demodulator is operated once to receive a DGPS signal. The DGPS demodulator can then be moved to another geographic region. The GPS receiver in the vehicle is operated as the vehicle is being driven and the GPS receiver receives standard GPS signals. The standard GPS signals from the GPS receiver at the stationary location can be used to correct the standard GPS signals received by the GPS receiver in the vehicle.

Claims

1. A system for acquiring data for forming a digital database of road geometry in a geographic region, the system comprising:

a land-based vehicle for traveling on roads;

a receiver mounted in the land-based vehicle wherein the receiver, when operated during a data gathering sequence, acquires Global Position System (GPS) signals transmitted from a plurality of satellites;

a demodulator mounted in the land-based vehicle and coupled to the receiver wherein the demodulator receives differential global position system (DGPS) signals from a differential global position system when the demodulator is operated during the data gathering sequence, wherein each GPS signal is corrected by a DGPS signal to create differentially corrected GPS data; and

a memory that stores each of the corrected GPS data.

2. A system according to claim 1 wherein the receiver and the demodulator are operated whenever the vehicle travels over a road.

3. A system according to claim 1 wherein the differentially corrected GPS data has an accuracy of at least about a radius of ±

15 meters from true position.

4. A system according to claim 1 wherein the demodulator receives DGPS signals from an FM transmitter at a known location.

5. A system according to claim 1 wherein the demodulator receives DGPS signals from a satellite.

6. A system according to claim 5 wherein the satellite from which the demodulator receives DGPS signals receives the DGPS signals from a base station at a known location.

7. A system according to claim 1 wherein the demodulator receives DGPS signals from a base station located at a known position.

8. A system according to claim 1 further comprising a display for graphically displaying a representation of the differentially corrected GPS data on a computer workstation.

9. A system according to claim 8 wherein the graphically displayed representation is a map of the road traveled over by the vehicle during the data gathering sequence.

10. A system according to claim 8 wherein the graphically displayed representation includes a plurality of datapoints connected to one another based upon the time the datapoint was measured.

11. A system according to claim 1 further comprising an indicator coupled to the demodulator that confirms the operation of the demodulator during the data gathering sequence.

12. A system according to claim 11 wherein the indicator is an LED located in the vehicle and visible to the operator of the vehicle.

13. A system according to claim 12 wherein the LED is illuminated each time the demodulator correctly receives a DGPS signal.

14. A system for acquiring data for forming a digital database of road geometry in a geographic region using a land-based vehicle equipped to receive Global Position System (GPS) signals while the vehicle is driven on roads in the geographic region, the system comprising:

means for receiving a differential global position system (DGPS) signal located in the land-based vehicle;

means for correcting the GPS signal with the DGPS signal to provide corrected geographic position data; and

a storage device for continuously storing the corrected geographic position data;

wherein the means for receiving a DGPS signal comprises an antenna coupled to the vehicle and a demodulator coupled to the antenna.

15. A system according to claim 14 wherein the means for correcting comprises a receiver located in the vehicle coupled to the demodulator wherein the receiver and demodulator can communicate with one another.

16. A system for acquiring data for forming a digital database of pathway geometry in a geographic region, the system comprising:

a vehicle for traveling along pathways in the geographic region of interest;

a receiver mounted in the vehicle wherein the receiver, when operated during a data gathering sequence, acquires Global Position System (GPS) signals transmitted from a plurality of satellites;

a demodulator mounted in the vehicle and coupled to the receiver wherein the demodulator receives a differential global position system (DGPS) signal from a differential global position system when the demodulator is operated during the data gathering sequence, wherein each GPS signal is corrected by a DGPS signal to generate differentially corrected GPS data; and

a memory that stores each of the differentially corrected GPS data.

17. A method for acquiring data for forming a digital database of road geometry in a geographic region, the method comprising the steps of:

providing a GPS receiver and a DGPS demodulator coupled to the GPS receiver on-board a land-based vehicle;

driving the vehicle on a road in the geographic region;

operating the GPS receiver and DGPS demodulator while traversing the road in the geographic region with the vehicle;

obtaining Global Position System (GPS) signals with the GPS receiver;

obtaining differential global position system (DGPS) signals with the DGPS demodulator;

correcting the GPS signals with the DGPS signals to provide corrected GPS data; and

storing the corrected GPS data.

18. A method according to claim 17 further comprising the step of graphically displaying on a computer workstation a representation of the corrected GPS data.

19. A method according to claim 17 wherein the step of obtaining the DGPS signals with the DGPS demodulator comprises receiving FM signals representing the DGPS signals from an FM transmitter at a known location.

20. A method according to claim 17 wherein the step of obtaining the DGPS signals with the DGPS demodulator comprises receiving the DGPS signals from a satellite.

21. A method according to claim 17 wherein the step of obtaining the DGPS signals with the DGPS demodulator comprises receiving the DGPS signals from a base station at a known location.

22. A method according to claim 17 further comprising the step of verifying the correct operation of the demodulator.

23. A method according to claim 22 wherein the step of verifying comprises illuminating an indictor each time the DGPS demodulator receives a DGPS signal.

24. A method according to claim 17 wherein the corrected GPS data have an accuracy of about ±

15 meters.

25. A method according to claim 17 further comprising the step of graphically displaying on a computer workstation a representation of the corrected GPS data.

26. A method according to claim 25 wherein the step of graphically displaying the representation comprises the steps of transmitting the stored corrected GPS data to a site remote from the vehicle, converting the stored corrected GPS data into arc/info signals and transmitting the arc/info signals back to the vehicle where the arc/info signals are graphically displayed.

27. A method according to claim 26 wherein the arc/info signals are graphically displayed as data points connected together based upon the time each datapoint was collected.

28. A method according to claim 26 further comprising the step of selecting nodes on the display.

29. A method of acquiring data for developing a digital database of roadway geometry for roadways and intersections in a selected geographic region, comprising the steps of:

moving a portable DGPS unit to at least one position in said selected geographic region;

operating said portable DGPS unit in conjunction with at least one standard GPS unit to acquire first data indicative of a precise position of said portable DGPS unit in said selected geographic region during a first period of time;

driving a mobile vehicle on roadways in said selected geographic region;

during a second period of time, operating a standard GPS unit located in said mobile vehicle to obtain second data indicative of positions of said mobile vehicle on the roadways during said step of driving;

using said first data to correct said second data to obtain third data indicative of precise positions of said mobile vehicle on said roadways,

whereby said third data are used to develop a digital database of roadway geometry including roadways and intersections for said selected geographic region.

30. The method of claim 29 wherein said step of moving a portable DGPS unit to at least one position further comprises:

locating said portable DGPS unit in said mobile vehicle and relocating said DGPS unit to various positions in said selected geographic region while said mobile vehicle is being driven on roadways in. said selected geographic region during said second period of time such that said first period of time and said second period of time overlap at least in part.

31. The method of claim 29 wherein the step of using said first data is performed as said vehicle is being driven on roadways in said selected geographic region during said second period of time.

32. The method of claim 29 wherein said DGPS unit is located in said mobile vehicle and wherein said step of operating said portable DGPS unit is performed during at least a portion of said second period of time while said mobile vehicle is being driven on roadways in said selected geographic region.

33. The method of claim 29 further comprising the step of:

operating a second standard GPS unit at said precise location during at least a portion of said second period of time to obtain fourth data;

and wherein said step of using said first data includes the step of;

using said fourth data in conjunction with said first data to correct said second data.

34. The method of claim 29 further comprising the step of:

relocating said portable DGPS unit to another selected geographic region after obtaining said second data indicative of positions of roadways in said geographic region.

35. A system for acquiring geographic data for forming a digital database of road geometry in a geographic region, the system comprising:

a land-based vehicle for traveling on roads;

a receiver mounted in the land-based vehicle wherein the receiver, when operated during a data gathering sequence, acquires Global Position System (GPS) signals transmitted from a plurality of satellites;

a demodulator for receiving at least one differential global position system (DGPS) signal from a differential global position system wherein each GPS signal is corrected by the at least one DGPS signal to create differentially corrected GPS data;

a memory that stores each of the corrected GPS data; and

a computer for creating the digital database from the corrected GPS data.

36. A system according to claim 35 further comprising a second receiver which is coupled to the demodulator wherein both the demodulator and second receiver are located at a stationary site.

37. A system according to claim 36 wherein the corrected GPS data is used to correct the GPS signals acquired by the second receiver.

38. The system of claim 35 wherein the demodulator is located in the land-based vehicle and coupled to the receiver.

39. The system of claim 38 wherein the demodulator is continuously operated during the data gathering sequence and receives a plurality of DGPS signals.

40. The system of claim 35 wherein the demodulator is located at a stationary site to form a portable base station.

41. The system of claim 40 wherein the demodulator only receives one DGPS signal and all of the GPS signals acquired by the second receiver are corrected by the one DGPS signal.

42. A method for acquiring data for forming a digital database of road geometry in a geographic region, the method comprising the steps of:

receiving at least one Differential Global Position (DGPS) signal with a demodulator located in a land-based vehicle;

receiving a plurality of Global Position System (GPS) signals with a receiver located in the land-based vehicle while the land-based vehicle is driven on at least one road in the geographic region;

generating differentially corrected GPS data by correcting the received GPS signals with the at least one DGPS signal;

storing the corrected GPS data in memory; and

using the stored corrected GPS data to create the digital database.

43. A method according to claim 42 further comprising the step of continuously operating the GPS receiver and DGPS demodulator as the land-based vehicle is driven on at least one road in the geographic region.