Autonomous cooperative surveying

• US 8,417,451 B2
• Filed: 12/08/2009
• Issued: 04/09/2013
• Est. Priority Date: 12/08/2008
• Status: Active Grant

• Current Assignee: Survice Engineering Company, LLC
• Original Assignee: William J. Hersey III
• Inventors: Hersey, John A., Hersey, William J. III
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US12/633,625
• Publication Number:
  US 20100141518A1
• Time in Patent Office: 1,218 Days
• Field of Search: None
• US Class Current: 701/468
• CPC Class Codes: G01C 13/008 measuring depth of open water
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: Y02A 90/30 Assessment of water resources

Abstract

A method and apparatus for measuring depth of waterways and elevation of land features through autonomous consolidation of GPS device data acquired from a plurality of mobile platforms is disclosed. The GPS device data may then be processed and compared to published reference data. A data recorder and a wireless transmission system comprise an onboard unit, which serves to interface with the GPS device for collecting, recording and transmitting data. The onboard device also provides an apparatus for collecting other georeferenced data from multiple mobile platforms, and serves as a node on a two-way meshed communication network.

Claims

1. A system for collecting and processing location data comprising:

a vehicle comprising;

a vertical sensing device configured to receive elevation or depth data;

a global positioning system (GPS) device in communication with the vertical sensing device; and

a data collection device in communication with the GPS device;

wherein the data collection device collects position data from the GPS device and is configured to transmit the position data to a remote data station.

2. The system of claim 1, wherein the data collection device is in communication with a sensor configured to provide attitude data.

3. The system of claim 1, wherein the vertical sensing device is selected from the group consisting of augmented GPS, radar, altimetry, sonar, and combinations thereof.

4. The system of claim 1, wherein the data collection device is configured to receive at least one of time, horizontal position, elevation, depth, heading, speed, environmental data, platform status, and quality of information data.

5. The system of claim 1, wherein the data collection device comprises:

a data interface module;

a data storage module; and

a wireless transmission module, wherein the data interface module is in communication with the GPS device and the data storage module and wherein the data storage module is in communication with the wireless transmission module, the wireless transmission module being configured to transmit the position information to a remote data station.

6. The system of claim 1, wherein the vehicle is selected from the group of air vehicles, land vehicles, sea vehicles, or combinations thereof.

7. The system of claim 1, wherein the data collection device further comprises an attitude sensor module.

8. The system of claim 1, wherein the data collection device is configured to include metadata with the position data, the metadata providing identifying information for the vehicle.

9. A system for storing and transmitting data comprising:

a data collection device comprising;

a data interface module configured to receive location data;

a data storage module configured to store the location data; and

a wireless transmission module configured to transmit the location data, wherein the data interface module is in communication with the data storage module and wherein the data storage module is in communication with the wireless transmission module and wherein the wireless transmission module serves as a two-way communication node for other data collection devices.

10. The system of claim 9, wherein the data interface module receives location data from at least one of a horizontal position device and a vertical position device.

11. The system of claim 9, wherein the wireless transmission module transmits location data to a remote data harvesting station.

12. The system of claim 11, wherein the remote data harvesting station comprises:

a wireless receiving module configured to receive location data from the wireless transmission module;

a data storage module configured to store the location data; and

a network interface configured to transmit the location data over a network, wherein the wireless receiving module is in communication with the data storage module and wherein the data storage module is in communication with the network interface.

13. The system of claim 9 , wherein for a plurality of data collection devices, each having a wireless transmission module, the communication nodes form a meshed network.

14. The system of claim 13, wherein the meshed network provides for connectivity between the plurality of data collection devices.

15. The system of claim 13, wherein the meshed network provides for sharing a network connection of said data harvesting station.

16. A method of processing location data comprising:

receiving location data from a vehicle comprising a global positioning system (GPS) device and a data collection device in communication with the GPS device, wherein the data collection device collects position data from the GPS device and is configured to transmit the position data to a remote data station;

correcting the location data by eliminating duplicate data; and

performing at least one of the following corrections;

correcting the location data with attitude data;

correcting the location data with horizontal data;

correcting the location data with elevation or depth data;

correcting the location data with environmental effect data.

17. The method of claim 16, further comprising compiling the corrected location data from a plurality of said vehicles into a plurality of tracklines and processing said tracklines to produce a contour map.

18. The method of claim 17 , further comprising comparing the produced contour map to reference data to correct for static and dynamic measurement influences.

19. The method of claim 16, wherein attitude data correction includes correcting for roll/pitch, heading, and heave.

20. The method of claim 16, wherein elevation or depth correction includes correcting for vertical heave.

21. The method of claim 16, wherein the environmental effect correction includes tide correction and sound velocity correction.

22. The method of claim 16, further comprising using the corrected location data to measure a tide variation.

23. The method of claim 16, further comprising using the corrected location data to measure a tide variation from a plurality of vehicles.

24. The method of claim 16, further comprising using an aspect of said location data to prioritize detailed surveying.

25. The method of claim 16, further comprising using said corrected location data to monitor at least one of:

erosion, sedimentation and shoaling.