Systems and methods for creating maps using GPS systems

• US 6,236,938 B1
• Filed: 08/05/1999
• Issued: 05/22/2001
• Est. Priority Date: 08/05/1999
• Status: Expired due to Fees

• Current Assignee: Amadeus Consulting Group, Inc. (Exadel, Inc.)
• Original Assignee: Amadeus Consulting Group, Inc. (Exadel, Inc.)
• Inventors: Atkinson, David, Dattilo, Leonard, Loper, Steve, Drew, Matthew
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US09/368,798
• Time in Patent Office: 656 Days
• Field of Search: 701/207, 701/208, 701/213, 701/214, 701/217, 342/357.06, 342/357.08, 342/357.12, 342/357.14, 342/357.02, 702/94, 702/95, 702/197
• US Class Current: 701/214
• CPC Class Codes: G01C 21/3844 Data obtained from position sensors only, e.g. from inertial navigation
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G09B 29/106 using electronic means

Abstract

A system and method for calculating and storing the location of objects. The system includes a computing device, a global positioning system (GPS) receiver in communication with the computing device, and a range finder in communication with the computing device. The GPS receiver obtains a latitude location and a longitude location of a first position and stores them in the computing device. Next, the GPS receiver obtains a latitude location and a longitude location of a second position and stores them in the computing device. A range finder is then used to locate a distance from the second position to a third position, which is stored in the computing device. The third position is the position of the object for which a location reading is sought. To calculate the latitude and longitude location of the third position, the computing device calculates an azimuth for the third position using the first and second position locations stored in the computing device. Next, the computing device calculates the latitude location and the longitude location of the third position using the latitude location and longitude location of the second position, the distance from the second position to the third position, and the previously calculated azimuth.

Claims

1. A method for calculating a location of an object using a global positioning system (GPS) receiver and a range finder, comprising the steps of:

obtaining a latitude location and a longitude location of a first position using a GPS receiver;

obtaining a latitude location and a longitude location of a second position using said GPS receiver;

locating a distance from said second position to a third position using a range finder, said third position being a position of an object;

calculating an azimuth for said third position using said first and said second positions; and

calculating a latitude location and a longitude location of said third position using said latitude location and said longitude location of said second position, said distance from said second position to said third position, and said azimuth.

2. The method as recited in claim 1, wherein said step of calculating an azimuth comprises:

calculating a preliminary azimuth from said first position to said second position using said latitude locations and said longitude locations of said first and said second positions; and

adding ninety degrees (90°

) to said preliminary azimuth if said third position is to the right of said second position or subtracting ninety degrees (90°

) from said preliminary azimuth if said third position is to the left of said second position.

3. The method as recited in claim 1, wherein said step of obtaining a location of a first position and said step of obtaining a location of a second position further comprises obtaining altitude locations for said first and said second positions.

4. The method as recited in claim 3, wherein said step of locating a distance from said second position to a third position using a range finder, further comprises the step of determining an inclination angle from said second position to said third position using said range finder;

and wherein said method further comprises calculating an altitude of said third position using said altitude of said second position and said inclination angle from said second position to said third position.

5. The method as recited in claim 1, wherein said method is used to create a map of objects.

6. The method as recited in claim 5, wherein said objects comprise at least one object from the group of objects comprising utility poles, utility boxes, water meters, houses, and commercial buildings.

7. A method for creating a map of objects, comprising the steps of:

calculating a location of each of said objects using a global positioning system (GPS) receiver and a range finder, said calculating step comprising the sub-steps of;

obtaining a latitude location and a longitude location of a first position using a GPS receiver;

obtaining a latitude location and a longitude location of a second position using said GPS receiver;

locating a distance from said second position to a third position using a range finder, said third position being a position of an object;

calculating an azimuth for said third position using said first and said second positions; and

calculating a latitude location and a longitude location of said third position using said latitude location and said longitude location of said second position, said distance from said second position to said third position, and said azimuth;

storing each of said calculated locations of each of said objects in a database; and

generating a map using said calculated locations stored in said database.

8. The method as recited in claim 7, wherein said step of calculating an azimuth comprises:

calculating a preliminary azimuth from said first position to said second position using said latitude locations and said longitude locations of said first and said second positions; and

adding ninety degrees (90°

) to said preliminary azimuth if said third position is to the right of said second position or subtracting ninety degrees (90°

) from said preliminary azimuth if said third position is to the left of said second position.

9. The method as recited in claim 7, wherein said step of obtaining a location of a first position and said step of obtaining a location of a second position further comprises obtaining altitude locations for said first and said second positions.

10. The method as recited in claim 9, wherein said step of locating a distance from said second position to a third position using a range finder, further comprises the step of determining an inclination angle from said second position to said third position using said range finder;

and wherein said method further comprises calculating an altitude of said third position using said altitude of said second position and said inclination angle from said second position to said third position.

11. The method as recited in claim 7, wherein said objects comprise at least one object from the group of objects comprising utility poles, utility boxes, water meters, houses, and commercial buildings.

12. A system for calculating and storing locations of objects, comprising:

a computing device;

a global positioning system (GPS) receiver in communication with said computing device; and

a range finder in communication with said computing device;

said system being configured to calculate and store said locations of objects by;

said GPS receiver obtaining a latitude location and a longitude location of a first position, and storing said latitude location and said longitude location of a first position in said computing device;

said GPS receiver obtaining a latitude location and a longitude location of a second position, and storing said latitude location and said longitude location of a second position in said computing device;

said range finder locating a distance from said second position to a third position using a range finder, and storing said distance from said second position to said third position in of said computing device, said third position being the position of an object;

said computing device calculating an azimuth for said third position using said first and said second positions stored in said computing device; and

said computing device calculating and storing a latitude location and a longitude location of said third position using said latitude location and said longitude location of said second position, said distance from said second position to said third position, and said azimuth.

13. The system as recited in claim 12, wherein said computing device comprises a computing device running the Windows CE™

operating system.

14. The system as recited in claim 12, wherein said stored locations of objects are used to create maps of said objects.

15. The system as recited in claim 12, wherein said computing device calculates said azimuth by:

calculating a preliminary azimuth from said first position to said second position using said latitude locations and said longitude locations of said first and said second positions; and

adding ninety degrees (90°

) to said preliminary azimuth if said third position is to the right of said second position or subtracting ninety degrees (90°

) from said preliminary azimuth if said third position is to the left of said second position.

16. The system as recited in claim 12, wherein said GPS receiver further obtains and stores in said computing device altitude locations for said first and said second positions.

17. The system as recited in claim 16, wherein said range finder further obtains and stores in said computing device an inclination angle from said second position to said third position;

and wherein said computing device further calculates an altitude of said third position using said altitude of said second position and said inclination angle from said second position to said third position.

18. The system as recited in claim 12, wherein said objects comprise at least one object from the group of objects comprising utility poles, utility boxes, water meters, houses, and commercial buildings.

19. The system as recited in claim 12, wherein said GPS receiver and said computing device are configured together as a single integral unit.

20. A method for improving the location measuring accuracy of a global positioning system (GPS) receiver by calculating an average measured location AVE, said method comprising the steps of:

(a) determining an accuracy ACC_GPS for a GPS receiver;

(b) obtaining a plurality of GPS location readings R<sub>1−

N</sub> at a position;

(c) calculating a first average location AVER, which is an average of said plurality of GPS location readings R<sub>1−

N</sub>;

(d) obtaining a subset of GPS location readings SR<sub>1−

M</sub> from said plurality of GPS location readings R<sub>1−

N</sub> which are within said accuracy ACC_GPS of said GPS receiver by subtracting each one of said plurality of GPS location readings R<sub>1−

N</sub> from said average position AVE_R to get a distance D_R that each one of said plurality of GPS location readings R<sub>1−

N</sub> are from said average position AVE_R, and including in said subset of readings SR<sub>1−

M</sub> each one of said plurality of GPS location readings R<sub>1−

N</sub> that has a distance D_R less than said accuracy ACC_GPS of said GPS receiver; and

(e) calculating a new average location AVE_SR, which is an average of said subset of location readings SR<sub>1−

M</sub>.

21. The method as recited in claim 20, further comprising the steps of:

(f) obtaining an additional GPS location reading R_O at said position;

(g) determining if said additional GPS location reading R_O is within said accuracy ACC_GPS of said GPS receiver by subtracting said additional GPS location reading R_O from said new average position AVE_SR to get a distance D_RO from said average position AVE_SR; and

(h) if said additional GPS reading R_O has a distance D_RO less than said accuracy ACC_GPS of said GPS receiver, calculating a new average location AVE_SR, which is an average of said subset of location readings SR<sub>1−

M</sub> and said additional GPS location reading R_O.

22. The method as recited in claim 21, wherein steps f, g, and h are repeated until at least sixty (60) GPS location readings are used to calculate said new average location AVE_SR.

23. A system for improving the location measuring accuracy of a global positioning system (GPS) receiver by calculating an average measured location, comprising:

a computing device; and

a global positioning system (GPS) receiver in communication with said computing device;

said system being configured to calculate an average measured location AVE by;

said computing device obtaining a GPS receiver accuracy ACC_GPS from said GPS receiver;

said GPS receiver obtaining a plurality of GPS location readings R<sub>1−

N</sub> at a position, and storing said GPS location readings R<sub>1−

N</sub> in said computing device;

said computing device calculating a first average location AVE_R, which is an average of said plurality of GPS location readings R<sub>1−

N</sub>;

said computing device obtaining a subset of GPS location readings SR<sub>1−

M</sub> from said plurality of GPS location readings R<sub>1−

N</sub> which are within said accuracy ACC_GPS of said GPS receiver by subtracting each one of said plurality of GPS location readings R<sub>1−

N</sub> from said average position AVE_R to get a distance D_R that each one of said plurality of GPS location readings R<sub>1−

N</sub> are from said average position AVE_R, and including in said subset of readings SR<sub>1−

M</sub> each one of said plurality of GPS location readings R<sub>1−

N</sub> that has a distance D_R less than said accuracy ACC_GPS of said GPS receiver; and

said computing device calculating a new average location AVE_SR, which is an average of said subset of location readings SR<sub>1−

M</sub>.

24. The system as recited in claim 23, wherein said system continues to calculate a new average location by:

said GPS receiver obtaining an additional GPS location reading R_O at said position;

said computing device determining if said additional GPS location reading R_O is within said accuracy ACC_GPS of said GPS receiver by subtracting said additional GPS location reading R_O from said new average position AVE_SR to get a distance D_RO from said average position AVE_SR; and

if said additional GPS reading R_O has a distance D_RO less than said accuracy ACC_GPS of said GPS receiver, said computing device calculating a new average location AVE_SR, which is an average of said subset of location readings SR<sub>1−

M</sub> and said additional GPS location reading R_O.

25. The system as recited in claim 24, wherein a new average location AVE_SR is calculated until at least sixty (60) GPS location readings are used to calculate said new average location AVE_SR.

26. The system as recited in claim 23, wherein said computing device comprises a computing device running the Windows CE™

operating system.

27. A global positioning system (GPS) receiver apparatus, comprising:

a GPS receiver;

a processor; and

a memory;

said GPS receiver apparatus being configured to calculate an average measured location by;

said processor determining a GPS receiver accuracy ACC_GPS for said GPS receiver;

said GPS receiver obtaining a plurality of GPS location readings R<sub>1−

N</sub> at a position, and storing said GPS location readings R<sub>1−

N</sub> in said memory;

said processor calculating a first average location AVE_R, which is an average of said plurality of GPS location readings R<sub>1−

N</sub>;

said processor obtaining a subset of GPS location readings SR<sub>1−

M</sub> from said plurality of GPS location readings R<sub>1−

N</sub> which are within said accuracy ACC_GPS of said GPS receiver by subtracting each one of said plurality of GPS location readings R<sub>1−

N</sub> from said average position AVE_R to get a distance D_R that each one of said plurality of GPS location readings R<sub>1−

N</sub> are from said average position AVE_R, and including in said subset of readings SR<sub>1−

M</sub> each one of said plurality of GPS location readings R<sub>1−

N</sub> that has a distance D_R less than said accuracy ACC_GPS of said GPS receiver; and

said processor calculating a new average location AVE_SR, which is an average of said subset of location readings SR<sub>1−

M</sub>.

28. The GPS receiver apparatus as recited in claim 27, wherein said GPS receiver apparatus continues to calculate a new average location AVE_SR by:

said GPS receiver obtaining an additional GPS location reading R_O at said position;

said processor determining if said additional GPS location reading R_O is within said accuracy ACCGPS of said GPS receiver by subtracting said additional GPS location reading R_O from said new average position AVE_SR to get a distance D_RO from said average position AVE_SR; and

if said additional GPS reading R_O has a distance D_RO less than said accuracy ACC_GPS of said GPS receiver, said processor calculating a new average location AVE_SR, which is an average of said subset of location readings SR<sub>1−

M</sub> and said additional GPS location reading R_O.

29. The system as recited in claim 27, wherein a new measured location AVE_SR is calculated until at least sixty (60) GPS location readings are used to calculate said average location AVE_SR.

30. The system as recited in claim 27, wherein said computing device comprises a computing device running the Windows CE™

operating system.