Land survey system

• US 8,416,130 B2
• Filed: 05/31/2011
• Issued: 04/09/2013
• Est. Priority Date: 12/15/2005
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Scherzinger, Bruno
• Primary Examiner(s): LIU, HARRY K
• Application Number:
  US13/134,146
• Publication Number:
  US 20110238303A1
• Time in Patent Office: 679 Days
• Field of Search: 342/357.23
• US Class Current: 342/357.23
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

A method and system obtains precise survey-grade position data of target points in zones where precise GPS data cannot be obtained, due to natural or man-made objects such as foliage and buildings. The system comprises position measurement components such as a GPS receiver, together with an inertial measurement unit (IMU) and an electronic distance meter (EDM) or an image capture device all mounted on a survey pole. The system and method obtains GPS data when outside the zone and uses the other position measurement systems, such as the IMU, inside the zone to traverse to a target point. The EDM or the image capture device may be used within or without the zone to obtain data to reduce accumulated position errors.

Claims

1. A land-based position determination system, comprising:

a vision positioning system configured to capture image data representing a sequence of images, said sequence of images including a plurality of non-common images of at least a fixed object;

a processor configured to use said image data to obtain from said sequence of images position information pertaining to said vision positioning system;

a position measurement system associated with said vision positioning system and configured to obtain position information pertaining to said position measurement system subject to position errors, said processor configured to use said position information pertaining to said position measurement system and said image data to calculate the position of the land based position determination system with reduced position errors.

2. The land-based position determination system of claim 1 in which said position information pertaining to said vision positioning system is based upon differences between images comprising said sequence of images.

3. The land-based position determination system of claim 2 in which said sequence of images consists of images of fixed features, said fixed features including a survey target feature.

4. The land-based position determination system of claim 3 in which said processor is configured to generate map information from said sequence of images, said map information containing said fixed features.

5. The land-based position determination system of claim 4 in which said vision positioning system comprises at least one video camera adapted to obtain said sequence of images from different locations.

6. The land-based position determination system of claim 5 in which said processor is configured to determine the position of said at least one video camera within said map information and to determine the location of said survey target feature with reduced errors using said image data, said position information pertaining to said position measurement system and said map information.

7. The land-based position determination system of claim 4 in which said processor is configured to generate stereo 3D map information containing depth and range-to-feature information relative to said fixed features.

8. The land-based position determination system of claim 1 in which said sequence of images includes a plurality of non-common images of two different spaced apart fixed objects.

9. The land-based position determination system of claim 1 in which said vision positioning system comprises at least a pair of video cameras each of which provides sequenced image information defining said image data.

10. The land-based position determination system of claim 1 in which said position measurement system comprises an IMU system configured to obtain said position information pertaining thereto based upon a known reference point.

11. The land-based position determination system of claim 1 in which said position measurement system comprises a GPS to provide GPS position data.

12. The land-based position determination system of claim 10 in which said position measurement system comprises a dead-reckoning system based upon said IMU.

13. The land-based position determination system of claim 1 in which said position measurement system comprises an EDM.

14. The land-based position determination system of claim 11 in which said position measurement system comprises an integrated GIE system.

15. The land-based position determination system of claim 1 in which said vision positioning system is adapted to capture said image data from one location and from another location.

16. The land-based position determination system of claim 15 in which said vision positioning system is adapted to be moved from said one location to said another location.

17. The land-based position determination system of claim 1 in which said processor is configured to provide blended position solutions based upon input of said position information pertaining to said position measurement system and said image data.

18. The land-based position determination system of claim 17 in which said blended solutions are represented by output from a Kalman filter.

19. The land-based position determination system of claim 14 in which said processor is configured to provide blended position solutions based upon input of position information obtained from said integrated GIE system and said image data.

20. The land-based position determination system of claim 19 in which said blended solutions are represented by output from a Kalman filter.

21. The land-based position determination system of claim 14 comprising an antenna and a GPS receiver to provide said GPS position data, said processor being configured to correct position information pertaining to said GIE system using said GPS position data and said image data.

22. The land-based position determination system of claim 1 in which said processor is configured to correct position information pertaining to said position measurement system using said image data.