(12) United States Patent
`Atkinson et al.
`
`111111
`
`1111111111111111111111111111111111111111111111111111111111111
`US006236938Bl
`US 6,236,938 Bl
`May 22,2001
`
`(10) Patent No.:
`(45) Date of Patent:
`
`(54) SYSTEMS AND METHODS FOR CREATING
`MAPS USING GPS SYSTEMS
`
`(75)
`
`Inventors: David Atkinson, Parker, CO (US);
`Steve Loper, Woodridge, IL (US);
`Leonard Dattilo, Madison, IN (US);
`Matthew Drew, Denver, CO (US)
`
`(73) Assignee: Amadeus Consulting Group, Inc.,
`Boulder, CO (US)
`
`( *) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(21) Appl. No.: 09/368,798
`
`(22) Filed:
`
`Aug. 5, 1999
`
`(51)
`
`Int. Cl? ...................................................... G06F 17/60
`
`OTHER PUBLICATIONS
`
`Sales Notes, Tripod Data Systems, Inc., Fall 1997.
`Sales Flyer for TDS Solo-Real Time Mapping, Tripod Data
`Systems, Inc.
`Sales Flyer for Racal MapPad, Racal NCS, Inc.
`Sales brochure, FieldWorker Products Ltd., ©1995-7.
`Wireless Telecommunications An Emerging Market for
`Image-Derived Geodata, Edward A Jurkevics, GeoTech
`Business Intellegence Report, Apr. 1999, pp. 1, 7.
`Preserving Qatar's Heritage for Future Generations Using
`GPS, Qassim Al-Ghanim, GEOsurv Chronicle, Issue 6, pp.
`3-4.
`
`(List continued on next page.)
`
`Primary Examiner-Richard M. Camby
`(74) Attorney, Agent, or Firm-Townsend and Townsend
`and Crew LLP
`
`(52) U.S. Cl. ...................... 701/214; 701/213; 342/357.02
`
`(57)
`
`ABSTRACT
`
`(58) Field of Search ..................................... 701/207, 208,
`701/213, 214, 217; 342/357.06, 357.08,
`357.12, 357.14, 357.02; 702/94, 95, 197
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`4,741,245 * 5/1988 Malone ............................... 89/41.03
`5,077,557 * 12/1991 Ingensand ....................... 342/357.02
`5,144,693
`9/1992 Morgan ................................ 395/158
`5,361,200
`11/1994 Weybright et a!. .................. 364/401
`5,526,291 * 6/1996 Lennen ................................. 701!214
`5,568,152 * 10/1996 Janky et a!.
`.................... 342/357.02
`5,655,136
`8/1997 Morgan ................................ 382/182
`5,739,785 * 4/1998 Allison eta!. .................. 342/357.02
`5,857,201
`1!1999 Wright, Jr. eta!. ................. 707/104
`5,904,726
`5/1999 Vock eta!. ........................... 701!208
`5,969,669 * 10/1999 Fshikawa et a!.
`.............. 342/357.02
`6,064,942 * 5!2000 Johnson et a!. ...................... 701!213
`6,092,033 * 7/2000 Uhlmann .............................. 701!214
`6,104,978 * 8/2000 Harrison eta!. ..................... 701!214
`FOREIGN PATENT DOCUMENTS
`83480 * 7/1983 (EP) ................................ 342/357.02
`
`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 posi(cid:173)
`tion 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.
`
`30 Claims, 18 Drawing Sheets
`
`~No
`
`No~
`-~
`\
`no
`
`Samsung Exhibit 1025 Page 00001
`
`

`
`US 6,236,938 Bl
`Page 2
`
`01HER PUBLICATIONS
`
`Sales Flyer for PS4001 Real Time Systems, Pentax Corpo(cid:173)
`ration, GPS Division.
`Sales Brochure for Racal LandStar, the Differential GPS
`Service, Racal LandStar Amercas.
`TDS Solo Software, Al Pep ling, LS, Professional Surveyor,
`May 1999, pp. 46-48.
`
`Utility Market Embraces ArcFMGIS Solution, ESRI ARC
`News, Spring 1999, pp. 1, 4.
`
`Advertisement for Turbo-G1, Topcon, ESRI ARC News,
`Spring 1999, p. 11.
`
`* cited by examiner
`
`Page 00002
`
`

`
`U.S. Patent
`
`May 22,2001
`
`Sheet 1 of 18
`
`US 6,236,938 Bl
`
`r
`
`(
`
`4
`
`6
`
`2
`
`.. . - - 4
`
`----4
`
`Fig. 1
`
`Page 00003
`
`

`
`U.S. Patent
`
`May 22,2001
`
`Sheet 2 of 18
`
`US 6,236,938 Bl
`
`14
`
`10
`
`12
`
`Fig. 2
`
`Page 00004
`
`

`
`U.S. Patent
`
`May 22, 2001
`
`Sheet 3 of 18
`
`US 6,236,938 Bl
`
`04
`r __ }_ ______ _
`
`I
`I
`I
`03~1
`I
`I
`
`22
`
`01
`
`21
`
`20
`
`Fig. 3
`
`28
`
`24
`
`N
`
`s
`
`Page 00005
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'"""' 00
`0 ......,
`~
`
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`ll@li
`~I
`
`II[Q]0 ~I 10:36AM
`Field Group I HOUSE INFO
`
`I Efll Start 111111 Composer ....
`
`Step 3: Jordan Road
`
`I Calculate I
`
`I
`
`I Azimuth
`
`Laser
`
`I
`I
`I
`
`Altitude I
`Longitude I
`Latitude I
`
`I
`I
`I
`
`37
`
`Target he~
`~
`~elp I ITJ EB I <J I o I [> I ~
`
`...; Shoot To?
`
`34
`
`Azimuth I
`Inclination I
`Slope Distance I
`Laser
`
`35
`
`GPS Reference
`
`Fig. 4a
`
`30~ Laser Reading
`
`~ntry
`
`I file Screen
`
`Page 00006
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'""" 00
`0 ......,
`Ul
`~ ......
`'JJ. =(cid:173)~
`
`'"""
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`37
`
`Targethei~
`[ZJ
`
`lvl ~otTo?
`
`34
`
`30~ GPS Referenc1' 1
`
`Laser Reading
`
`[ZJ
`
`I file Screen Entry Help I [?] I ¢:: I ~ I I <J I 0 I [> I
`
`Slope Distance I 57.6
`-Laser
`
`32
`
`Fig. 4b
`
`ll@l[
`[Y]I
`
`[[LQJ0~1 10:37 AM
`
`I Effi Start [[1111 Composer ....
`
`I HOUSE INFO
`
`Field Group
`
`Step 3: Jordan Road
`
`I Calculate I
`I
`I
`I
`
`I
`Altitude I
`~ Longitude I
`-r:a Latitude I
`
`36
`
`~39
`
`I
`
`Laser
`
`Azimuth I
`Inclination I 0
`
`I
`3\
`
`Page 00007
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'""""" 00
`
`0 ......,
`0'1
`~ ......
`'JJ. =(cid:173)~
`
`'"""""
`
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`~~~renee 145 00 21. 1652N II 091 08 15.34~1 E II 5642.1 4-!0 I ~
`Previous 145 oo 12.3415N II 091 08 06.1216E II 5668.8226 ~ l31
`
`44
`
`56 7
`
`54=.;;'
`
`52 7
`
`r GPS Bearing
`
`II[Q']0~110:38AM lf@ll
`~I
`J
`
`Azimuth I 133.13
`60\
`
`I HOUSE INFO
`
`Field Group
`
`I Effi Start 111111 Composer ....
`
`Step 3: Jordan Road
`
`58
`
`0 Left @Right
`
`,... Laser Angle
`
`42
`
`50./
`
`48 _/
`
`46 __./
`
`Fig. 4c
`
`40~
`
`~~
`Entry Help I IT] EEJ I<] I 0 ! [>I ~
`
`Calculate Azimuth
`
`I Eile Screen
`
`Page 00008
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'""" 00
`0 ......,
`-..J
`~ ......
`'JJ. =(cid:173)~
`
`'"""
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`~
`I file Screen Entry Help I ITJ I ¢= I ~ I I <J I O I [> I ~
`
`Laser Reading
`
`Targethei~
`
`37
`
`34
`
`GPS Reference g, I vi ~hoot To?
`
`II illJ0 ~I 10:38 AM I l@ll
`EJI
`
`I HOUSE INFO
`
`Field Group
`
`I EJE Start II II 4f Composer ....
`
`Step 3: Jordan Road
`
`I ~39 I Calculate I
`I
`I
`
`63\
`
`62
`
`Altitude I
`
`I
`
`Latitude I
`
`38
`136
`
`\L_
`r Longitude I
`
`Laser
`
`I
`
`Azimuth I 133.73
`Inclination I 0
`
`Slope Distance I 57.6
`r-Laser
`
`32
`
`Fig. 4d
`
`30-------..
`
`Page 00009
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`'""""" 00
`
`0 ......,
`00
`~ ......
`'JJ. =-~
`
`'"""""
`
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`e
`I ~ ~
`
`il@ll
`~I
`
`II[Q']0 ~I 10:38 AM
`I HOUSE INFO
`
`Field Group
`
`I ~ Start 111111 Composer ....
`
`Step 3: Jordan Road
`
`39 63
`
`Altitude I 5642.14400 i -~
`-68
`-t--~
`
`I-66
`
`~ 64
`
`I
`
`I
`
`---Y
`~ Longitude I
`36 V
`Latitude I
`
`62
`
`38
`
`Azimuth I 133.73
`Inclination I 0
`Slope Distance I 57.6
`r---Laser
`
`Laser
`
`I
`35~
`
`Target ~ightj/o.oo I
`
`37
`
`lvl ~ootTo?
`
`34
`
`32
`
`GPS Referenc~.1
`
`~
`Entry Help I [2J I¢:: I ~ II <J I O I [> I ~
`
`Laser Reading
`
`I Eile Screen
`
`-
`
`Fig. 4e
`
`30 ----------.
`
`Page 00010
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`ll@ll
`~I
`
`II[Q] ~I 7:56AM
`
`ll§lB Start 111111 Composer ....
`
`I Poles
`
`Field Group
`
`Step 3: SAMPLE
`
`'"""' 00
`0 ......,
`'0
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`GUY WIRE ~84
`
`TRANSXFMR ~82
`
`C8o
`
`rszJI
`
`t-----78
`
`TYPE I POWER
`S/N
`
`1 3326
`
`Fig. 4f
`
`0
`Entry Help I [2] EG I <J I 0 I t> I ~
`
`45 oo
`~~76
`
`os1 oa ls~2l44o II cps I
`
`['!] Paint
`
`70~
`
`I File Screen
`
`-
`
`Page 00011
`
`

`
`U.S. Patent
`
`May 22,2001
`
`Sheet 10 of 18
`
`US 6,236,938 Bl
`
`86
`
`85
`
`89
`
`88
`
`Fig. 5
`
`Page 00012
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'""""" 00
`
`'""""" 0 ......,
`'"""""
`
`~ ......
`'JJ. =(cid:173)~
`
`'"""""
`
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`ll@li
`~I
`I
`
`I
`
`I ~
`I Cancel
`I Hide
`I Accept
`
`102
`
`I
`
`104
`
`~
`
`98
`
`Count
`
`llcfu0~1 1:05PM
`I HOUSE INFO
`
`Field Group
`
`I Effi Start 111111 Composer ....
`
`Step 3: Jordan Road
`
`HOOP
`
`lvl Differential
`
`100
`
`-
`
`"'1..Q:Jr
`
`lrn.-. JB
`
`I
`
`I
`
`I I GPS Off
`
`~
`
`Average 1516539.12 114374909.10111815
`I
`
`I
`
`\
`
`I
`
`I
`
`GPS Readings I
`
`90
`
`/
`
`96
`
`94
`
`92
`
`"
`
`Fig. 6
`
`-
`
`Page 00013
`
`

`
`U.S. Patent
`
`May 22,2001
`
`Sheet 12 of 18
`
`US 6,236,938 Bl
`
`110
`
`\
`
`Obtain Plurality
`ofGPS
`Readings R1-N
`
`112
`
`Fig. 7(a)
`
`Calculate Average
`AVER of
`Readings R1-N
`
`114
`
`(116
`
`·--------- ----------------------
`
`I
`I
`I
`I
`I
`I
`I
`I
`I
`I
`I
`
`fTYes
`
`To
`Fig. l(b)
`
`118
`
`120
`
`No
`
`Calculate distance
`D Rl from average
`point AVER to +--(cid:173)
`each point R 1
`
`124
`
`No
`
`Discard
`Point R1
`
`130
`
`128
`
`Yes
`
`Include R 1 in
`subset of readings
`SR1-M within
`accuray ACC GPS
`
`---------------------------------
`
`Page 00014
`
`

`
`U.S. Patent
`
`May 22,2001
`
`Sheet 13 of 18
`
`US 6,236,938 Bl
`
`110
`
`From
`Fig. l(a)
`
`Fig. 7(b)
`
`146
`
`No
`
`Calculate new
`Average AVEsR
`using subset of
`readings SR1-M
`
`132
`
`Yes
`
`Obtain additional
`136
`GPS Reading Ro?_,__ __
`
`Calculate distance
`DRo from average
`point AVEsR to
`point Ro
`
`138
`
`No
`
`Discard
`Point Ro
`
`144
`
`142
`
`Yes
`
`Calculate new
`average AVEsR
`using subset of
`readings SR 1-M
`and Ro
`
`Page 00015
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'"""' 00
`0 ......,
`'"""' ~
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`"[Q] ~~ 12:o3PM ~~~
`I Save
`I
`
`I I Cancel
`
`-
`
`160)
`
`II§Il Start 111111 Composer ....
`
`Template Maintenance
`
`I
`
`I I Modify
`
`Add
`
`I I Modify I
`
`Add
`
`15 ....
`
`[2]
`~
`
`156
`
`-
`
`[2]
`~
`
`154
`
`-
`
`I
`I file Screen Entry Help I ITJ ~ I <j I 0 I[> I ~
`
`/
`
`152 :..__7
`I
`
`Fig. Ba
`
`Groups
`
`Template
`
`150'-----
`
`157
`
`Fields
`
`Modify
`
`II
`
`New
`
`[SJII
`
`Page 00016
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'"""' 00
`0 ......,
`'"""' Ul
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`~&art] I]$ Composer....
`@!J~I AltiCJ~ITJITJEJEJ~~b
`l'lf Shift 10GJ0GJ~G~DDCZJ[IJ~ 165
`~00@J[!]@JCEJDJCEJITJDD :J
`166 ~I-•II@JG[!JCQITJ[!J0ITJ0~0Jc:pJE~t~ c
`~DJITJITJ8J0~ITJ[!J~@JEJ0QJ[]J I Delete Jt-163
`I lVI
`~
`~~ f/\l
`
`Name [PfQict Info
`
`Fig. Bb
`
`j[t:~~ ~ 15:38 PMI [@Jj
`
`I
`
`.Qancel
`
`'
`
`I
`
`§_ave
`
`I
`
`
`
`.1
`
`a nee
`
`I '{ OK
`
`167
`
`New
`
`New
`
`Tutorial
`
`!::!elp I IT] I ¢::: I ~ I I <JI 0 I [> I ~
`tjelp 1 ITJ rn 1 <J 1 o 1 [> 1
`
`[X]
`
`~ntry
`
`I I file Qcreen
`
`~creen ~ntry
`
`1 file
`
`162
`
`Page 00017
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'"""' 00
`0 ......,
`'"""' 0'1
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`I
`~I
`Help I [iJ I {::: I :::} I I <J I O I [> I ~
`
`Default I
`
`170
`
`I Text
`
`Type
`
`Name I Technician
`
`Fig. Be
`
`I New Field
`I file Screen Entry
`
`~
`
`168
`
`II to cQ] ~ _:g 16:00 PM I l@JI
`I
`I
`
`Ctlllr:3BI~D~ITJ[]JEJEIIsymbiiNuml 16~ Cancel
`l'lf Shift 1000G[I]G~DD0[I]~ '--f Delete
`I-1I@JG~0ITJ[YJ00J~00Jcpr~~1
`I Caps 100@JITJ~[6J[JJ[IJ[JJ[J[J :J
`~mmm0mrn~~~~B00rn~ 167
`
`163
`
`I Effi Start 111111 Composer...
`
`166
`
`174
`
`172_/
`
`ttJI J Required 0 Override
`V
`
`Page 00018
`
`

`
`U.S. Patent
`
`May 22,2001
`
`Sheet 17 of 18
`
`US 6,236,938 Bl
`
`; - - -
`
`; - - -
`
`; - - -
`
`......
`(J)
`(J)
`(J)
`0
`
`(J)
`
`0 c
`m
`(.)
`
`-
`
`('t)
`
`co
`
`l()
`
`co
`
`-
`
`~ a..
`N
`0
`co
`
`c..
`(J)
`II
`
`c
`(J)
`(J)
`s.....
`()
`(I) I
`
`(J)
`
`LL1
`
`-cu ·-LL
`
`~
`cu
`Z
`
`(J)
`
`...... m
`0
`.....__
`
`())
`E
`m z
`
`......
`())
`m
`0
`.....__
`
`(J) c..
`~
`
`t...:
`(J) en
`0 c..
`E
`0
`(.)
`
`It
`
`t m
`......
`(/)
`
`Page 00019
`
`

`
`1--"
`~
`00
`~
`
`0'1
`~
`'N
`0'1
`rJ'l
`
`e
`
`'"""' 00
`0 ......,
`'"""' 00
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`
`~N
`N
`'-<
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`I
`
`Modify
`
`II
`
`New
`
`[ZJ II
`
`152~
`[ Tutorial -
`,
`
`Template
`
`t1elp 1 G rn 1 <JI o 1 r> 1 ~
`
`§ntry
`
`1 file §creen
`
`-n
`
`I Project Info
`Groups
`
`154
`
`~
`
`150
`
`Fig. Be
`
`js:04PM I l@JI
`I I Qancel I
`
`II to [Q] ~ S
`I §ave
`
`[Em Start liD Composer....
`
`Template Maintenance
`
`J
`
`I I Modify
`
`CAdd
`
`I I Modify I
`
`'---
`
`156
`
`I Add
`I Time
`Date
`Location
`Technician
`
`I~
`Ill AI
`
`Page 00020
`
`

`
`US 6,236,938 Bl
`
`1
`SYSTEMS AND METHODS FOR CREATING
`MAPS USING GPS SYSTEMS
`
`BACKGROUND OF THE INVENTION
`
`2
`In addition, the accuracy of global positioning systems
`(GPS) is affected by a number of external influences. For
`example, atmospheric/ionospheric conditions, ephemeris
`error, receiver error, satellite clock error, multi-path error,
`5 and selective availability introduced by the Department of
`Defense all can affect GPS accuracy. Because of these
`errors, the typical accuracy of a good GPS receiver is about
`60 to about 100 feet. The existence of differential corrections
`or differential GPS (DGPS) helps improve the accuracy to
`10 about 20 centimeters for good quality GPS receivers. Lower
`quality DGPS devices can have accuracies between about 1
`to about 3 meters.
`When recording GPS readings, it is not uncommon to see
`significant drift in the readings due to the above mentioned
`influences, even when using DGPS systems. Thus, what is
`need is a system and method for obtaining more accurate
`location readings using a GPS system, by reducing the effect
`of the above mentioned influences.
`
`15
`
`20
`
`25
`
`The present invention relates generally to systems and
`methods for creating maps, and more particularly, to systems
`and methods for calculating a location of an object using a
`global positioning system (GPS) receiver and a range finder.
`In addition, the present invention relates to systems and
`methods for improving the accuracy of GPS system read(cid:173)
`ings.
`The ability to integrate serial devices with notebook
`computers and new hand held computing devices like the
`Palm Pilot™, and devices running the Windows CE™
`operating system has broadened the potential to create
`paperless data collection solutions. The hand held comput(cid:173)
`ing devices include 3Com's Palm Pilot, Casio Computer
`LTD's Cassiopeia, Compaq Computer Corporation's PC
`Companion, Ericsson Mobile Communication's MC12,
`Hewlett-Packard Co.'s HP Palmtop PC, Hitachi LTD's
`Handheld PC, LG Electronics' Phenom, NEC Computer
`Systems Division's MobilePro H/PC, Phillips Electronic's
`Vela, Sharp Electronics Corporation's Mobilon, and
`Vadem's Clio. Areas in which automatic data collection is
`useful include precision farming, asset management,
`resource management, civil engineering/road building, and
`the food service industry, to name a few.
`For example, with precision farming, large farming opera(cid:173)
`tions world-wide can be operated with maximum cost effec- 30
`tiveness if reliable information about variations in the prop(cid:173)
`erty can be mapped in a timely fashion. Projects requiring
`such information include the placement of irrigation and
`drainage systems, soil sampling, crop damage analysis,
`pathogen detection, and yield mapping for fertilization and 35
`pesticide use. In addition, governments and private indus(cid:173)
`tries that are concerned about the environment, agriculture,
`forestry, and mining have an ongoing need to map, inspect,
`regulate and monitor large areas. It can be very difficult and
`very time consuming to locate and map objects in these large 40
`remote areas.
`Another example of an industry in which data collection
`and mapping is important is the utility field. Most utility
`companies (e.g., telephone, cable, gas, water and sewage)
`need to locate and map infrastructure items, such as utility 45
`poles, water meters, water lines, gas lines, and the like. The
`accuracy of these maps can be very important. For example,
`in the telecommunications industry, companies that need to
`run coax, fiber optic, or hybrid fiber/coax cable between
`existing utility poles need accurate location readings and 50
`maps of those utility poles.
`Currently, these maps are made by individuals obtaining
`mapping information using manual surveying techniques or
`expensive and cumbersome surveying equipment utilizing
`GPS technologies. The GPS systems currently known in the 55
`art typically include custom developed data collection and
`manipulation devices. In addition, to use these systems, the
`operator must stand outside of a vehicle to obtain the proper
`location readings. When operators are mapping large areas,
`it can be extremely time consuming to drive from one 60
`mapping point to another, get outside of the car, take a
`reading, and then get back into the car and drive to the next
`location. It can be even more time consuming if the data
`collector is required to walk from one reading point to the
`next. Therefore, what is needed is an inexpensive easy to use 65
`system and method for obtaining and storing mapping
`information.
`
`SUMMARY OF THE INVENTION
`
`According to the invention, 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. In accordance with the present invention,
`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.
`To calculate the azimuth for the third position, the system
`first calculates a preliminary azimuth from the first position
`to the second position using the latitude and longitude
`locations of the first and second positions. Next, the system
`adds 90 degrees to the preliminary azimuth if the third
`position is to the right of the second position or the system
`subtracts 90 degrees from the preliminary azimuth if the
`third position is to the left of the second position.
`In accordance with another aspect of the present
`invention, the GPS receiver can be configured to obtain and
`store in the computing device altitude locations for the first
`and second positions. Also, when measuring the distance
`from the second position to the third position, the range
`finder may obtain and store in the computing device an
`inclination angle from the second position to the third
`position. The computing device then can calculate an alti(cid:173)
`tude of the third position using the altitude of the second
`position and the inclination angle from the second position
`to the third position.
`In accordance with one embodiment of the present
`invention, the computing device may comprise a handheld
`computing device running the Windows CE™ operating
`system.
`
`Page 00021
`
`

`
`US 6,236,938 Bl
`
`4
`FIGS. 8a-8e are screen shots illustrating a method for
`creating document templates.
`
`DESCRIPTION OF THE SPECIFIC
`EMBODIMENTS
`
`Object Location Calculation and Map Generation
`
`30
`
`3
`In accordance with another embodiment of the present
`invention, a system for improving the location measuring
`accuracy of a GPS receiver by calculating an average
`measured location. The system comprises a computing
`device and a GPS receiver in communication with the s
`computing device. The system is configured to calculate an
`average measured location by the computing device obtain(cid:173)
`ing a GPS receiver accuracy ACCGPs of the GPS receiver.
`The GPS receiver obtains a plurality of GPS location
`readings R 1 _N at a position, and stores the GPS location
`readings R 1 _N in the computing device. The computing
`device calculates a first average location AVER, which is an
`average of the plurality of GPS location readings R 1 _N· The
`computing device then obtains a subset of GPS location
`readings SR 1 _M from the plurality of GPS location readings
`R 1 _N which are within the accuracy ACCGPs of the GPS
`receiver by subtracting each one of the plurality of GPS
`location readings R 1 _N from the average position AVER to
`get a distance DR that each one of the plurality of GPS
`location readings R 1 _N are from the average position AVER.
`The computing device then includes in the subset of read(cid:173)
`ings SR 1 _M each one of the plurality of GPS location
`readings R 1 _N that has a distance DR less than said accuracy
`ACCGPs of the GPS receiver. The computing device then
`calculates a new average location AVEsR which is an aver(cid:173)
`age of the subset of location readings SR 1 _M·
`The system can be configured to continue to calculate a
`new average location as additional GPS readings are taken.
`In accordance with this aspect of the present invention, the
`GPS receiver obtains an additional GPS location reading R0
`at the particular position being measured. The computing
`device then determines if the additional GPS location read(cid:173)
`ing R0 is within the accuracy ACCGPs of the ~PS receiver
`by subtracting the additional GPS location readmg R0 from
`said new average position AVEsR to get a distance DRM from
`the average position AVEsR· If the additional GPS reading
`R0 has a distance DRM less than said accuracy ACCGPs of
`the GPS receiver, the computing device calculates a new
`average location AVEsR which is an average of the subset of
`location readings SR 1 _M and the additional GPS location
`rating R0 .
`In accordance with one embodiment of the present
`invention, a new average location AVEsR is calculated until
`at least 60 GPS location readings are used to calculate the
`new average location AVEsR·
`A more complete understanding of the present invention
`may be derived by referring to the detailed description of
`preferred embodiments and claims when considered in con(cid:173)
`nection with the figures, wherein like reference numbers
`refer to similar items throughout the figures.
`
`35
`
`40
`
`As one skilled in the art will appreciate, it is important for
`many businesses and/or agencies to create maps to keep
`10 track of assets or know the location of certain objects. For
`example, fire departments create maps of neighborhoods so
`that they can respond to 9-1-1 calls in a quicker manner, and
`the utilities often create maps which show the location of
`utility assets such as utility poles, water meters, etc. Cur-
`15 rently there exist systems which can calculate object loca(cid:173)
`tions using differential global positioning systems (DGPS).
`These systems involve one or more known positions (as
`measured with the DGPS) and one or more range finder
`generated distances between the known positions and the
`20 unknown position. Triangulation typically then is used to
`calculate the unknown position using the 2 DGPS positions
`and the 2 range finder generated distances. This method
`doubles the number of range finder readings needed, and can
`make it complicated to track the readings being used to
`25 calculate the different positions.
`Some range finders will include an azimuth measuring
`device, such as a compass, to give a directional location
`position relative to the position from which the distance
`measure is being taken. However, in many circumstances
`magnetic fields and other factors can cause the azimuth
`measuring capability of a range finder to be inaccurate. For
`example, when trying to take range measurements from
`within a car, the magnetic fields generated by different
`components in the car will cause the compass to have great
`error. The present invention provides systems and methods
`for calculating the position of an object using one distance
`reading and two GPS position locations. The two GPS
`positions are used to calculate the azimuth or direction of the
`obiect being measured from one of the position locations
`J
`measured using the GPS system.
`Referring now to FIG. 1, a street 2 is shown having a
`plurality of utility poles 4 positioned along street 2. In
`accordance with one embodiment of the present invention,
`45 a person riding in a car 6 can take location measurements of
`utility poles 4 as the person drives along street 2. As
`discussed briefly above, the method involved in taking the
`location measurements of utility poles 4 includes taking two
`GPS location measurements at two different locations and
`50 then using a range finder to determine a distance that the
`unknown position is from a second measured position.
`Referring now to FIG. 2, a system for calculating and
`storing object locations is shown. More particularly, system
`10 includes a computing device 12, a GPS receiver 14, and
`ss a range finder 16. Computing device 12 may comprise any
`suitable computing device currently known or hereinafter
`developed. However, in accordance with one embodiment of
`the present invention, computing device 12 preferably com(cid:173)
`prises a portable computing device, such as a notebook
`60 computer or a handheld computing device running, for
`example, the Windows CE™ operating system. Examples of
`Windows CE™ devices include Casio Computer Ltd.'s
`Cassiopeia, Compaq Computer Corporation's The Compact
`PC Companion, Ericsson Mobile Communication's MC12,
`65 Hewlett-Packard Co.'s HP Palmtop PC, Hitachi LTD's
`Handheld PC, LG Electronics' Phenom, NEC Computer
`Systems Division's MobilePro H/PC, Phillips Electronic's
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`FIG. 1 is a diagram illustrating how a person can measure
`the location of utility poles while driving down the street;
`FIG. 2 is a diagram illustrating an object measuring
`system;
`FIG. 3 is a diagram illustrating a method of calculating the
`location of objects;
`FIGS. 4a-4f are screen shots illustrating a method of
`calculating the location of objects;
`FIG. 5 is a diagram illustrating a GPS filtering system;
`FIG. 6 is a screen shot illustrating a method for improving
`the reading accuracy of a GPS receiver;
`FIG. 7 is a flow chart diagram illustrating a method for
`improving the reading accuracy of a GPS receiver; and
`
`Page 00022
`
`

`
`US 6,236,938 Bl
`
`5
`
`5
`Vela, Sharp Electronics Corporation's Mobilon, or Vadem's
`Clio. However, the present invention is not limited to these
`devices.
`GPS unit 14 may comprise any suitable GPS receiver,
`including a differential GPS (DGPS) receiver, and prefer-
`ably is connected to computing device 12 via a suitable
`communication connection 18; for example, a serial port
`connection, parallel port connection, SCS connection, Uni(cid:173)
`versal Serial Bus, Fivewire, Fibre Channel, or the like.
`Similarly, range finder 16 may comprise any suitable range 10
`finder currently known in the art, and also preferably is
`connected to computing device 12 via a suitable communi(cid:173)
`cation connection 19.
`While system 10 shows computing device 12, GPS
`receiver 14 and range finder 16 as being separate 15
`components, one skilled in the art will appreciate that the
`system could be configured as a single device, or 2 or more
`of the components could be configured together as a single
`component; for example, the GPS receiver and the comput(cid:173)
`ing device could be a single unit. Therefore, the system is not 20
`limited to the illustrated embodiment.
`Referring now to FIG. 3, a geometric drawing illustrating
`a method of the present invention for calculating the location
`of an object using a GPS receiver and a range finder will now
`be described. As one skilled in the art will appreciate, system
`10 (FIG. 2), or other suitable systems may be used m
`accordance with the present method.
`To calculate location coordinates for a position 24 in
`accordance with one embodiment of the present invention,
`a GPS receiver 14 first is used to obtain a location measure(cid:173)
`ment of a first position 20 (referred to in FIG. 4c as
`"Previous"). Preferably, the location information of position
`20 includes latitude, longitude and altitude readings. In
`accordance with this particular example, the latitude loca- 35
`tion of position 20 is 45° 00' 01.2121" N, the longitude of
`position 20 is 091 o 08' 06.1216" E, and the altitude is
`5,623.2814 feet. After obtaining the location at position 20,
`the location at a second position 22 (referred to in FIGS.
`4a-4e as "GPS Reference") is determined using a GPS 40
`receiver (e.g., GPS receiver 14). In accordance with this
`example, the location of position 22 is directly north of
`position 20 and has a latitude measurement of 45° 00'
`12.3415" N, a longitude measurement of 091 o 08' 06.1216"
`E, and an altitude measurement of 5,668.8226 feet.
`Next, range finder 16 is used to determine a distance D1
`and an inclination angle from position 22 to position 24. In
`this particular example, distance D1 is 12.2 meters. After
`distance D1 is determined, an azimuth for position 24 is
`calculated.
`To calculate the azimuth for position 24, the azimuth
`location of second position 22 from first position 20 first is
`calculated. With this particular example, because second
`position 22 is due north of first position 20, the azimuth
`between the two positions is zero (0). Next, in accordance
`with one embodiment of the present invention, it is assumed
`that distance D1 is obtained using a range finder located at
`a right angle or 90° from position 24. That is, position 24 is
`90° from position 22 as it sits along the direction line 21
`from position 20 to position 22. Thus, to calculate the
`azimuth for position 24, 90° is added to the azimuth between
`positions 20 and 22. If position 24 was to the left of position
`22, 90° would be subtracted from the azimuth between
`positions 20 and 22. With this particular example, since the
`azimuth between positions 20 and 22 is zero (0), the azimuth 65
`for position 24 is 90°. Finally, the latitude and longitude
`readings of position 22, and the azimuth for position 24 is
`
`6
`used to calculate the longitude and latitude readings of
`position 24. For this particular example, the longitude and
`latitude readings for position 24 are 12.2 meters east of 091 o
`8' 06.1216" E and 45° 00' 12.3415" N, respectively. As
`illustrated the new longitudinal location is 12.2 meters east
`of the longitude coordinate 091 o 8' 06.1216" E. As one
`skilled in that art will appreciate, the conversion of the 12.2
`meters to a new longitudinal or geoditic value is done by
`well known mathematical methods. Therefore, this conver(cid:173)
`sion method will not be disclosed in detail herein. Also, as
`discussed in more detail below, the inclination angle
`between position 22 and position 24, and the altitude at
`position 22 can be used to calculate the altitude at position
`24.
`Still referring to FIG. 3, as well as FIGS. 4a-4f, a second
`example of the method for calculating coordinates of a
`location using a GPS receiver and a range finder is illus(cid:173)
`trated. In accordance with thi