Enhanced position measurement systems and methods
First Claim
Patent Images
1. A position measurement system, comprising:
- a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;
a sensing subsystem coupled with the rod, the sensing subsystem comprising;
a global navigation satellite system (“
GNSS”
) device for obtaining GNSS data;
an azimuth determination device for determining an azimuth from the position measurement system to an object of interest;
a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; and
a data storage device for storing data obtained by the sensing subsystem; and
an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising;
a plurality of first cameras; and
a plurality of second cameras;
wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view;
wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and
wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view;
wherein the azimuth determination device;
receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras;
calculates an image-based azimuth to the object of interest, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras;
calculates at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and
selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth.
1 Assignment
0 Petitions
Accused Products
Abstract
Novel solutions for position measurement, including without limitation tools and techniques that can be used for land surveying and in similar applications. One such tool is a greatly enhanced position measurement system that takes the form of a surveying rod with substantial independent functionality, which can be used with or without a total station or similar device.
112 Citations
65 Claims
-
1. A position measurement system, comprising:
-
a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position; a sensing subsystem coupled with the rod, the sensing subsystem comprising; a global navigation satellite system (“
GNSS”
) device for obtaining GNSS data;an azimuth determination device for determining an azimuth from the position measurement system to an object of interest; a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; and a data storage device for storing data obtained by the sensing subsystem; and an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising; a plurality of first cameras; and a plurality of second cameras; wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view; wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; wherein the azimuth determination device; receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras; calculates an image-based azimuth to the object of interest, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; calculates at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth. - View Dependent Claims (2, 3, 4)
-
-
5. A position measurement system, comprising:
-
a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position; an imaging subsystem coupled with the rod, the imaging subsystem comprising a plurality of first cameras and a plurality of second cameras, to capture an image of at least a portion of a landscape surrounding the position measurement system, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; an azimuth determination device configured to; receive, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras; calculate an image-based azimuth to a target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; calculate at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and select a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least additional azimuth; and a control system in communication with the imaging subsystem, the control system comprising a processor and a computer readable medium having encoded thereon a set of instructions executable by the processor, wherein the control system; determines a position of the position measurement system; receives an image from the imaging subsystem; orients the received image with regard to a frame of reference, based at least in part on the position of the position measurement system; determines a coordinate position of an object point using the received image; and stores the determined coordinate position of the object point. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
-
-
25. A position measurement system, comprising:
-
a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position; a sensing subsystem coupled with the rod, the sensing subsystem comprising an electronic distance measurement (“
EDM”
) system, the EDM system comprising an emitter, the sensing subsystem further comprising a vertical angle sensor that determines a vertical angle of the emitter and an azimuth determination device;an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, the imaging subsystem comprising a plurality of first cameras and a plurality of second cameras, to capture an image of at least a portion of a landscape surrounding the position measurement system, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; and a control system in communication with the sensing subsystem and the imaging subsystem, the control system comprising a processor and a computer readable medium having encoded thereon a set of instructions executable by the processor to cause the control system to perform one or more operations, wherein the control system; determines a position of the position measurement system; receives, from the sensing subsystem, distance data regarding a measured distance from the position measurement system to an object of interest; receives, from the sensing subsystem, vertical angle data regarding a vertical angle of the emitter; determines a position of the object of interest, based at least in part on the position of the position measurement system, the distance data, and the vertical angle data; wherein the azimuth determination device; receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras; calculates an image-based azimuth to the object of interest, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; calculates at least one additional azimuth other than the image-based azimuth, based on data other than the image data; and selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
-
-
37. A position measurement system, comprising:
-
a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position; a sensing subsystem coupled with the rod, the sensing subsystem comprising; a global navigation satellite system (“
GNSS”
) device for obtaining GNSS data;an azimuth determination device for determining an azimuth from the position measurement system to an object of interest, wherein the azimuth determination device comprises a compass for obtaining compass orientation data about the position measurement system and a gyroscope for obtaining gyroscopic orientation data about the position measurement system; a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; and a data storage device for storing data obtained by the sensing subsystem; and an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, the imaging subsystem comprising a plurality of first cameras and a plurality of second cameras, to capture an image of at least a portion of a landscape surrounding the position measurement system, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; wherein the azimuth determination device; receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras; calculates a true compass azimuth to the target object, based at least in part on the compass orientation data; calculates a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data; calculates an image-based azimuth to the target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; and selects a preferred azimuth to the target object, based at least in part on the true compass azimuth, the gyroscopic azimuth, and the image-based azimuth; and adjusts the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth. - View Dependent Claims (38)
-
-
39. A position measurement system, comprising:
-
a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position; a sensing subsystem coupled with the rod, the sensing subsystem comprising; a global navigation satellite system (“
GNSS”
) device for obtaining GNSS data;a compass for obtaining compass orientation data about the position measurement system; a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; a gyroscope for obtaining gyroscopic data about a relative orientation of the position measurement system; a data storage device for storing data obtained by the sensing subsystem; and a first communication interface; an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising; a plurality of first cameras; and a plurality of second cameras; wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view; wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; and a control subsystem in communication with the sensing subsystem, the control subsystem comprising; a second communication interface for communicating with the first communication interface; a display device; an input device; a processor; and a computer readable storage medium having encoded thereon a set of instructions executable by the processor, wherein the control subsystem; receives, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras; calculates an image-based azimuth to a target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; calculates at least one additional azimuth other than the image-based azimuth, based on one or more of the compass orientation data or the gyroscopic data; and selects a preferred azimuth to the target object, based at least in part on the image-based azimuth and the at least one additional azimuth. - View Dependent Claims (40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62)
-
-
63. A method comprising:
-
situating a position measurement system at a chosen location, the position measurement system comprising; a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position; a sensing subsystem coupled with the rod, the sensing subsystem comprising; a global navigation satellite system (“
GNSS”
) device for obtaining GNSS data;a compass for obtaining compass orientation data about the position measurement system; a tilt sensor for obtaining tilt data about a tilt angle of the position measurement system; a gyroscope for obtaining gyroscopic data about a relative orientation of the position measurement system; and a data storage device for storing data obtained by the sensing subsystem; an imaging subsystem coupled with the rod, and in communication with the sensing subsystem, to capture an image of at least a portion of a landscape surrounding the position measurement system, the imaging subsystem comprising; a plurality of first cameras; and a plurality of second cameras; wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view; wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view; and wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; and a control subsystem, in communication with the sensing subsystem, for controlling operation of the sensing subsystem; establishing communication between the control subsystem and the sensing subsystem; receiving, from the sensing subsystem, GNSS data, compass orientation data, tilt data, and gyroscopic data; receiving, from the imaging subsystem, image data obtained by at least one camera of the plurality of first and second cameras; calculating a true compass azimuth to the target object, based at least in part on the compass orientation data; calculating a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data; calculating an image-based azimuth to the target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras; selecting a preferred azimuth to the target object, based at least in part on the true compass azimuth, the gyroscopic azimuth, and the image-based azimuth; adjusting the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth; and displaying, on the display device, information about the selected azimuth. - View Dependent Claims (64)
-
-
65. An apparatus, comprising:
-
a non-transitory computer readable medium having encoded thereon a set of instructions executable by one or more processors to cause a computer system to; establish communication between the computer system and each of a sensing subsystem of a position measurement system and an imaging subsystem of the position measurement system, wherein the imaging subsystem comprises a plurality of first cameras and a plurality of second cameras, wherein the plurality of first cameras has a first collective panoramic field of view having some overlap in image coverage between adjacent first cameras while having gaps in image coverage between the adjacent first cameras, each first camera having a first lateral field of view and a first angular field of view, wherein the plurality of second cameras has a second collective panoramic field of view that overlaps in part with the first collective field of view while covering the gaps in image coverage between the adjacent first cameras, each second camera having a second lateral field of view and a second angular field of view, wherein at least one of the second lateral field of view or the second angular field of view differs from corresponding at least one of the first lateral field of view or the first angular field of view; receive, from the sensing subsystem, GNSS data, compass orientation data, tilt data, and gyroscopic data; receive, from the imaging subsystem, image data obtained from by at least one camera of the plurality of first and second cameras; calculate a true compass azimuth to the target object, based at least in part on the compass orientation data; calculate a gyroscopic azimuth to the target object, based at least in part on the gyroscopic data; calculate an image-based azimuth to the target object, based at least in part on image data obtained by the at least one camera of the plurality of first and second cameras select a preferred azimuth to the target object, based at least in part on the true compass azimuth, the gyroscopic azimuth, and the image-based azimuth; adjust the preferred azimuth, based at least in part on the tilt data, to produce a selected azimuth; and cause the display, on a display device, of information about the selected azimuth.
-
Specification