Sensor cart positioning system and method
First Claim
1. An apparatus, comprising:
- a platform configured to traverse on the ground and along a path;
a position sensor physically coupled to the platform and configured to provide position data as the platform traverses along the path;
a sensor arrangement physically coupled to the platform and configured to provide subsurface sensor data as the platform traverses along the path, the sensor arrangement comprising a plurality of sensors spaced apart from one another and at a known offset position relative to the position sensor; and
a processor comprising an output and configured to;
produce geometrically correct position data by correcting for curvilinear dynamic motion errors in the position data using positional offset data defining the known offset position of each sensor relative to the position sensor;
associate a geometrically correct position with the data provided by each of the sensors; and
provide output data comprising the sensor data and associated geometrically correct position data for each of the sensors at the output of the processor.
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Abstract
A movable platform has a front end, a back end, a longitudinal axis, and at least one axle oriented generally transverse to the longitudinal axis and located between the front and back ends for supporting wheels of the platform. A position sensor is affixed on the platform at a location other than at a location defined by a plane passing through the axle and normal to the longitudinal axis. The position sensor provides position data as the platform traverses a path. A sensor arrangement is supported by the platform and configured to provide subsurface sensor data as the platform traverses the path. A processor is configured to associate the position data with the sensor data relative to a reference frame and in a manner that accounts for dynamic motion of the platform.
133 Citations
19 Claims
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1. An apparatus, comprising:
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a platform configured to traverse on the ground and along a path; a position sensor physically coupled to the platform and configured to provide position data as the platform traverses along the path; a sensor arrangement physically coupled to the platform and configured to provide subsurface sensor data as the platform traverses along the path, the sensor arrangement comprising a plurality of sensors spaced apart from one another and at a known offset position relative to the position sensor; and a processor comprising an output and configured to; produce geometrically correct position data by correcting for curvilinear dynamic motion errors in the position data using positional offset data defining the known offset position of each sensor relative to the position sensor; associate a geometrically correct position with the data provided by each of the sensors; and provide output data comprising the sensor data and associated geometrically correct position data for each of the sensors at the output of the processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method, comprising:
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traversing on the ground and along a path by a platform; acquiring position data by a position sensor at the platform as the platform traverses along the path; obtaining subsurface sensor data at the platform by a plurality of spaced-apart sensors as the platform traverses the path; producing geometrically correct position data by correcting for curvilinear dynamic motion errors in the position data using positional offset data defining a known offset position of each sensor relative to the position sensor; associating a geometrically correct position with the data provided by each of the sensors; and providing output data comprising the sensor data and associated geometrically correct position data for each of the sensors. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification