6,067,046
`[11] Patent Number:
`[19]
`United States Patent
`
`Nichols
`[45] Date of Patent:
`May 23, 2000
`
`U5006067046A
`
`[54] HANDHELD SURVEYING DEVICE AND
`METHOD
`
`[75]
`
`Inventor: Mark E. Nichols, Sunnyvale, Calif.
`.
`_
`_
`_
`_
`_
`[73] Assignee: Tr1mble NaVIgatlon Limited,
`Sunnyvale, Calif.
`
`[21] Appl, No.: 09/293,132
`
`[22]
`
`Filed:
`
`Apr. 16, 1999
`
`Related US. Application Data
`
`[63]
`
`Continuation—in—part of application No. 08/842,699, Apr. 15,
`1997, Pat N0- 59039235
`Int. Cl.7 ............................... G01s 5/02; H04B 7/185
`[51]
`[52] us. Cl.
`................................ 342/357.14; 342/357.06;
`342357.17; 342/419; 701/213; 701/217
`[58] Field of Search ......................... 342/35701, 357.06,
`342357 14 357 17 419, 701/213 216
`'
`’
`i
`’
`’
`’ 218’
`
`[56]
`
`References Cited
`
`US PATENT DOCUMENTS
`8/1990 Ruszkowski
`.............................. 342/52
`4,949,089
`
`5,077,557 12/1991 Ingensand .....
`342/52
`5,291,262
`3/1994 Dunne ......................................... 356/5
`
`5,374,933
`5,512,905
`5,903,235
`
`12/1994 Kao ......................................... 342/357
`.
`...... 342/357
`4/1996 Nichols et a1.
`
`5/1999 Nichols ................................... 342/357
`
`Primary Examiner—Thomas H. Tarcza
`Assistant Examiner—Dao L. Phan
`Attorney, Agent, or Firm—Blakely, Sokoloff, Taylor &
`Zafman LLP
`
`[57]
`
`ABSTRACT
`
`A handheld survey device includes a Global Positioning
`System (GPS) receiver for receiving position information, a
`pointer to point to the location to be measured, a measuring
`device to measure the distance between the handheld device
`and the location to be measured and a level and heading
`device to determine the level and heading of the handheld
`deVice~ The GPS receiVer may be a real time kinematic
`(RTK) GPS receiver and may be augmented by the use of a
`dead reekoning (DR) POSifioning ““11 A Processor loca‘e’d
`Within the handheld device computes the position of the
`location using the position information provided by the GPS
`receiver and/or the DR system,
`the distance measured
`between the handheld. device and the location, and the level
`and heading 1nformation. The pos1tion computed meets the
`stringent accuracy requirements dictated by survey applica-
`“OHS Wlthom the use Of a range pom
`
`10 Claims, 10 Drawing Sheets
`
`
`
`DIFF/KTK
`
`
`RECEIVER
`ANTENNA
`
`
`565
`
`GPS
`ANTENNA
`564
`
`
`
`
`
`
`GPS
`
`
`DIFF/KTK
`RECEIVER
`
`[—
`RECEIVER
`PROCEEEOK
`
`
`@
`3266
`
`
`
`Mt
`
`DR
`UNJT
`
`517
`
`BATTEKY/
`POWER
`500KCE
`
`KEYBOARD
`3,52
`
`HEADING
`METER
`
`fl
`
`
`
`
`
`
`
`5Y5TEM
`
`
`CONTROLLER
`DIORLAY
`& TRANSFORM
`
`
`
`3,54
`CALCU LA‘TOK
`
`
`
`562
`
`
`
`
`
`
`
`
`DIQTANCE
`
`METER
`578
`
`
`DATA
`STOKAGE
`£66
`
`|PR2020-01192
`
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`US. Patent
`
`May 23, 2000
`
`Sheet 1 0f 10
`
`6,067,046
`
`
`
`Fig.1
`(Prior Art)
`
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`US. Patent
`
`May 23, 2000
`
`Sheet 2 0f 10
`
`6,067,046
`
`
`
`210
`
`Fig. 2A
`
`
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`US. Patent
`
`May 23, 2000
`
`Sheet 3 0f 10
`
`6,067,046
`
` I
`
`I
`
`INPUT/OUTPUT
`& KEYPAD
`
`m
`
`5
`
`
`
`
`
`
`PROCESSOR
`
`RECEIVING
`
`ANTENNA
`
`
`
`
`
`
`
`
`
`
`
`
`READ REASON! NG GYGTEM
`
`EH
`
`& HEADING
`
`RADIO
`
`RECEIVER
`
`DIGITAL LEVEL
`
`
`
`
`
`
`
`
`MEASURING
`
`DEVICE
`
`ROINTING
`
`DRIVER
`
`
`
`Fig. 5A
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`US. Patent
`
`May 23, 2000
`
`Sheet 4 0f 10
`
`6,067,046
`
`
`
`DIFF/KTK
`EECEIVER
`ANTENNA
`565
`
`'
`
`6175
`ANTENNA
`364
`
`DR
`UNIT
`
`517
`
`DTFF/RTK
`RECEIVER
`
`570
`
`550
`
`
`6P5
`RECEIVER
`PROCESEOK
`
`326,62
`
`
`BATTEKY/
`POW E R
`BOURCE
`
`
`
`
`
`DISPLAY
`554
`
`I
`
`SYSTEM
`CONTROLLER
`& TRANSFORM
`CALCULATOK
`
`562
`
`TILT
`METER
`
`572
`
`‘
`
`3
`‘
`
`I
`
`KEYEOAKD
`552
`
`574
`
`HEADJNG
`METEK
`
`LASER
`
`POiNT
`
`575
`
`,
`|
`
`586
`
`DJQTANCE
`
`M ETEK
`
`L
`
`575
`
`DATA
`
`STORAGE
`
`Fig; 55
`
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`US. Patent
`
`May 23, 2000
`
`Sheet 5 0f 10
`
`6,067,046
`
`
`
`
`
`USING POINTER DEVICE, POINT
`TO LOCATION TO BE MEASURED
`405
`
`
`
`
`
`
`DETERMINE TILT AND
`HEADING OF DEVICE
`
`410
`
`MEASURE DISTANCE FROM DEVICE
`
`TO LOCATION TO BE MEASURED
`fli
`
`DETERMINE POSITION OF DEVICE
`USING SATELLITE AND/OR
`DR NAVIGATION SYSTEM
`
`420
`
`
`
`
`
`
`
`COMPUTE DIFFERENCE IN POSITION
`BETWEEN HANDHELD UNIT
`AND LOCATION TO BE MEASURED 425
`
`
`
`
`
`ADJUST GLOBAL POSITION DATA BY THE
`COMPUTED DIFFERENCE TO DETERMINE
`POSITION OF LOCATION TO BE MEASURED
`450
`
`
`
`Fig. 4
`
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`
`May 23, 2000
`
`Sheet 6 0f 10
`
`6,067,046
`
`
`
`Fig. 5
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`US. Patent
`
`May 23, 2000
`
`Sheet 7 0f 10
`
`6,067,046
`
`NORTH
`
`(y)
`
`EAST
`
`(X)
`
`ALTITUDE
`
`(Z)
`
`I '
`
`ALTITUDE
`
`KZ\
`K
`J
`
`Fig. 6A
`
`NORTH EAsT
`
`(X)
`
`I
`
`LASER BEAM 525
`\ POINT TO BE
`MEAEURED 520
`(x0’, yO’, zO’)
`
`Fig. 65
`
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`
`May 23, 2000
`
`Sheet 8 0f 10
`
`6,067,046
`
`
`
`Fig. 7A
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`
`May 23, 2000
`
`Sheet 9 0f 10
`
`6,067,046
`
`Fig. '75
`
`Fig. 7C
`
`MAGNETIC
`NORTH
`(N)
`
`r
`
`
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`May 23, 2000
`
`Sheet 10 0f 10
`
`6,067,046
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`
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`FIG. 3
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`

`1
`HANDHELD SURVEYING DEVICE AND
`METHOD
`
`RELATED APPLICATION
`
`This application hereby claims the priority benefit of and
`is a continuation-in-part of co-pending application Ser. No.
`08/842,699, now US. Pat. No. 5,903,235 entitled “Hand-
`held Surveying Device and Method, filed Apr. 15, 1997, by
`Mark Edward Nichols, and assigned to the Assignee of the
`present invention.
`
`10
`
`FIELD OF THE INVENTION
`
`The present invention relates to surveying using satellite
`navigational equipment.
`
`15
`
`BACKGROUND
`
`The art of surveying and mapping has dramatically
`changed through the use of satellite navigation equipment.
`Satellite survey devices include receivers that receive posi-
`tion signals from the global positioning system (GPS),
`Global Navigation Satellite System (GLONASS) receiver or
`other satellite or pseudolite systems. The satellite position
`signals are used to compute the position of the receiver.
`Survey and GIS (Geographic Information System) appli-
`cations require extremely high accuracy positions measure-
`ments. Due to selective availability (S/A) and environmental
`conditions,
`the position signals may be degraded to 100
`meter accuracy, which is not satisfactory for Survey and GIS
`use. Differential correction (DGPS) and real time kinematic
`(RTK) processes are therefore used to increase accuracy to
`the within 0.2—5 meter accuracy and centimeter accuracy,
`respectfully. RTK and real time computation of DGPS both
`require the use of an additional radio frequency receiver for
`reception of additional data that
`is used to compute a
`corrected, more accurate, position. Thus, the satellite survey
`device which is typically called the “rover device”, includes
`a range pole for identifying the point for which a location is
`to be computed, a user input/output device for entry and
`display of information and data, a satellite receiver and a
`radio receiver.
`
`Examples of satellite survey devices include the GPS
`Total Station® manufactured by Trimble Navigation Ltd. of
`Sunnyvale, Calif. (GPS Total Station is a registered trade-
`mark of Trimble Navigation Ltd.). The GPS Total Station
`includes a GPS antenna mounted on a range pole. The user
`places the range pole over the location to be measured. A
`simplified drawing of this type of surveying equipment is
`shown in FIG. 1. The range pole 10 has attached to it the
`antenna 20 for receiving GPS signals and a circular level or
`vial 30. The user 40 holds the pole 10 and moves the pole
`10 about until the level 30 indicates that the pole is vertically
`oriented and the bottom of the pole touches the location 50
`to be surveyed. Once vertically oriented, the information
`received via the GPS antenna can be used to accurately
`compute the position of the location 50. Typically, the user
`will have a backpack 60 that includes a wireless link, such
`as a radio modem 70, for receiving correction signals from
`differential GPS (DGPS) base stations. Using DGPS
`technology, more precise measurements are obtained. The
`backpack 60 also contains equipment and circuits for gen-
`erating positional
`information based upon the signals
`received through antenna 20 and wireless link 70. The data
`collection device 100 enables the user to make manual
`
`entries, and also provides a visual reading of the survey
`measurements obtained.
`
`20
`
`25
`
`30
`
`35
`
`40
`
`45
`
`50
`
`55
`
`60
`
`65
`
`6,067,046
`
`2
`
`Handheld GPS receivers presently are available on the
`consumer market. These devices ally marketed towards the
`recreational sailor or hiker, provide position information
`accurate to 20—100 meters. Smaller, lighter GPS receivers
`with survey accuracy would be desirable to surveyors
`because of ease of transport in the field.
`In order to be of utility, surveying data must provide
`accuracy within the range of 5 mm to 10 or 20 cm. The
`handheld devices available do not provide this high level of
`accuracy needed. Thus, it is desirable to provide an accurate
`handheld device to be used in survey and GIS applications.
`SUMMARY OF THE INVENTION
`
`The present invention describes a handheld surveying
`device using satellite navigational or similar positioning
`technology and a dead reckoning (DR) system. The hand-
`held device eliminates the need for a range pole and provides
`accurate position information.
`In one embodiment,
`the
`device is embodied in a handheld housing which includes a
`global positioning system (GPS) receiver, a DR system; a
`digital level and heading device for determining the level
`and heading of the handheld device; a pointing device that
`enables the user to point the handheld device to the location
`to be measured; and a measuring device to measure the
`distance between the handheld device and the location to be
`
`measured. The GPS receiver may be a real time kinematic
`(RTK) GPS receiver.
`Using the handheld device, the pointing device is used to
`point to the location to be measured. The measuring device
`measures the difference between the location of the mea-
`
`suring device (computed using GPS and/or DR
`measurements) and the location pointed to that
`is to be
`measured. The digital level and heading device provides
`data for correction of position information due to the ori-
`entation of the handheld device. By incorporating these
`elements into a handheld device, the need for a range pole
`is eliminated.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`The objects, features and advantages of the present inven-
`tion will be apparent to one skilled in the art from the
`following detailed description in which:
`FIG. 1 is a simplified prior art drawing of a Global
`Positioning System Surveying Device.
`FIG. 2a and FIG. 2b are simplified illustrations of
`embodiments of the handheld surveying device of the
`present invention.
`FIG. 3a is a simplified block diagram illustrating one
`embodiment of elements of the handheld surveying device
`of the present invention and FIG. 3b illustrates an alternate
`embodiment of the handheld surveying device of the present
`invention.
`
`FIG. 4 is a simplified flow diagram illustrating the pro-
`cessing to be performed with respect to one embodiment of
`the handheld device of the present invention.
`FIG. 5, FIG. 6a, and FIG. 6b are diagrams used to
`describe one embodiment of the computations to be per-
`formed in one embodiment of the handheld device of the
`
`present invention.
`FIG. 741, FIG. 7b, FIG. 7C and FIG. 8 illustrate another
`embodiment of the computations to be performed in another
`embodiment of the handheld device of the present invention.
`DETAILED DESCRIPTION
`
`In the following description, for purposes of explanation,
`numerous details are set forth in order to provide a thorough
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`3
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`4
`
`6,067,046
`
`understanding of the present invention. However, it will be
`apparent to one skilled in the art that these specific details
`are not required in order to practice the present invention. In
`other instances, well-known electrical structures and circuits
`are shown in block diagram form in order not to obscure the
`present invention unnecessarily.
`The surveying device of the present invention provides a
`handheld device that is easy to use and eliminates a need to
`use a cumbersome range pole. Asimplified illustration of the
`handheld device is shown in FIG. 2a. Using the handheld
`device 200,
`the user 205 can measure a position of a
`particular location 10. The handheld device eliminates the
`need for a range pole (i.e., 10, FIG. 1), or a level (30, FIG.
`1)
`to orient
`the device directly over the location to be
`measured.
`
`The device 200 includes the circuitry to receive position-
`ing information from the global positioning system (GPS),
`or similar system, as well as information to adjust
`the
`positioning information received to compute an accurate
`position of the location to be determined 210.
`An alternate embodiment is illustrated in FIG. 2b. In this
`
`embodiment. certain components are placed in a fanny pack
`230 which hooks around the user’s waist with a belt. For
`
`example, the radio receiver and a data storage device may be
`placed in the fanny pack, freeing up space in the handheld
`portion 235 of the device. However, it is preferred that the
`laser pointer, GPS antenna and digital level and heading
`device be maintained in the handheld device in order that
`
`user be able to point to the location to be measured and
`acquire accurate position data.
`A simplified block diagram of one embodiment of the
`handheld device is shown in FIG. 3a. The device typically
`includes input/output elements, such as a display and keypad
`305, a processor 310, and related components such as
`memory, controllers and the like, a positioning antenna and
`receiver 315, a radio receiver 320, digital level and heading
`element 330, measuring element 340 and pointing element
`350.
`
`The input/output display and keypad 305 are used to
`provide feedback to the user and enable the user to enter in
`information, such as notes regarding the survey process
`performed. Processor 310 performs the computations nec-
`essary to determine the desired location, and further controls
`the remaining elements to acquire the data needed to per-
`form these calculations. Processor 310 also performs func-
`tions such as storing data in the memory for subsequent
`access, and displaying selective information on the display
`during survey.
`The antenna and receiver 315 receive position informa-
`tion with respect to the location of the antenna on the
`handheld device.
`In the present embodiment, equipment
`compatible with the Global Positioning System (GPS) are
`used. However, it is readily apparent an antenna and receiver
`compatible with other types of positioning systems may be
`employed. Other types of positioning systems include the
`Global Orbiting Navigation System (GLONASS),
`long-
`range navigation (LORAN-C) system, uncoordinated bea-
`con signals, and pseudolite systems.
`In addition to these RF-based positioning information
`systems, the handheld device may incorporate an internal (or
`at least associated) dead reckoning (DR) system. 317. DR
`systems are useful where GPS or other RF positioning
`signals arc unavailable (e.g., under dense canopies, in urban
`canyons, etc.). The integration of DR and GPS receiver
`systems is well known in the art (see, e.g., US. Pat. No.
`5,538,776, incorporated herein by reference), however, no
`
`prior GPS/DR system has included the pointing and/or
`measuring elements described herein.
`Briefly, as explained in US. Pat. No. 5,538,776, DR
`systems compute a position solution by measuring or deduc-
`ing displacements from a known starting point in accordance
`with motion of the user. Two types of well-known DR
`systems are inertial navigation systems (INS) and systems
`based on a combination of a compass or rate gyro and a
`speedometer. INS use data from three orthogonal acceler-
`ometers. Double integration calculates position from accel-
`eration as the user moves. Three gyros are also required to
`measure the attitude of the accelerometers and remove the
`
`effects of gravity. Results of the integration are added to the
`starting position to obtain current location. Compass or rate
`gyro/speedometer DR systems determine location with
`heading and speed indicators and have been automated with
`microcomputers in vehicular applications.
`The above-cited US. Patent introduces a third kind of DR
`
`system, primarily directed to individual foot travelers. In
`general, the system combines a digital electronic compass
`with both a pedometer and a barometric altimeter. Pedom-
`eters use a spring-loaded mechanical pendulum to sense
`walking motions of the user. The pendulum operates a
`switch so that the up-down motion of the pendulum may be
`counted by the unit’s electronics. A scale factor that
`is
`proportional to the user’s stride length is then applied to the
`count
`to determine the distance traveled. The altimeter
`
`provides measures in elevation changes as the user travels.
`The above sensors are used in a complementary configu-
`ration with GPS and digital electronic maps. The integrated
`GPS-DR navigation system continuously tracks a user’s
`position without references to external aids or signals. Thus,
`such a DR device is well suited to the present invention,
`which is preferably embodied in a handheld device.
`Once the position information is received (i.e., either with
`respect to the antenna of the handheld device where GPS
`signals are used or from the internal or associated DR unit
`317), the difference in position between the handheld device
`and the location to be measured must be determined. The
`
`digital level and heading device 330 identifies the tilt (angle
`O) and the heading (angle 6) at which the user is holding the
`handheld device. This provides the data used to determine
`the relative position of the handheld device with respect to
`the position to be measured. Thus, there is no need for the
`user to hold the handheld device in a prespecified orientation
`directly over the location to be measured. The device 330
`can be embodied as two separate devices, one determining
`the level of the handheld device, and the other determining
`the heading. Alternately, the device 330 can be one inte-
`grated device. One example of a device 330 is the TMCI
`which is available from Precision Navigation Ltd.,
`Sunnyvale, Calif. In some cases, elements of the DR system
`317 may be shared with the digital level and heading device
`330.
`
`10
`
`15
`
`20
`
`25
`
`30
`
`35
`
`40
`
`45
`
`50
`
`55
`
`The measuring element 340 is used to measure the
`distance between the handheld device and the location to be
`
`the measuring element 340 is any
`measured. Preferably,
`compact measuring device that functions to non-obtrusively
`measure the distance between the handheld device and the
`
`60
`
`location to be measured. In addition, it is preferred that the
`measuring device does not require a device, such as a
`reflective object, to be placed at the location to be measured.
`One example of the measuring device 340 is a sonic-based
`measuring system, which sonically determines the distance
`between the measuring device and the location to be mea-
`sured. Another device 340 that can be used is a laser-based
`
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`measuring device that uses the time of flight or performs a
`phase comparison in order
`to measure the distance.
`Preferably, as noted above, the laser measuring device does
`not require a reflective surface at the location to be mea-
`sured. Examples of measuring element products include
`Criterion by Laser Technology Colorado, and Pulsar by
`IBEO, Hamburg, Germany.
`The pointing element 350 provides feedback to the user to
`enable the user to identify the location to be measured. In
`one embodiment, a laser pointer is used. The laser pointer
`illuminates a spot on a surface and can be moved by the user
`to position the spot at the location to be measured. The laser
`pointer should be concentric with the measuring device, or
`slightly offset. If slightly offset, the difference between the
`location of the laser pointer within the handheld device and
`the location of the measuring device in the handheld device
`can be determined using known offset and tolerances.
`Alternately, it may desirable in certain situations to use an
`optical plummet. For example, an optical plummet may be
`desirable in those situations where the ambient light is so
`bright that the location the laser pointer is pointing to cannot
`be visually determined. The optical plummet is attached to
`or incorporated into the housing of the device and provides
`the user a visual picture of the area that the device is pointing
`to, and a centering element, such as a cross-hair, to enable
`the user to Visually determine the location where the hand-
`held device is pointing to. The offset between the optical
`plummet and the measuring device would be a known,
`predetermined quantity, enabling the measurement to be
`accurately determined.
`The handheld device 300 may also include a radio
`receiver for receiving differential GPS correction signals for
`increasing the accuracy of the measurements. Correction
`signals are transmitted by a DGPS base station, and received
`by the radio receiver 320. These correction signals are then
`used to adjust the positioning data received through the GPS
`antenna and receiver 315. Although in the present
`embodiment, a separate antenna/receiver is used, it is con-
`templated that one antenna/receiver can be used to receive
`position signals and correction signals. Furthermore, other
`elements may be added to the handheld device to provide
`additional functionality and features.
`Alternatively, in place of a DGPS receiver, an RTK (real
`time kinematic) GPS receiver may be used. RTK GPS
`receivers are well-known in the GPS arts and provide up to
`centimeter-level accuracy. Unlike DGPS receivers, RTK
`GPS receivers rely on satellite observables transmitted by a
`radio or other link between the base and mobile receivers,
`whether or not there is a clear line of site (e.g., a multiple
`radio relay link may be used), to ensure that accuracy in the
`mobile position measurements is maintained and the survey
`information is correct. Further details regarding RTK meth-
`odologies may be found in Talbot et al., US. Pat. No.
`5 ,5 1 9,620, entitled “Centimeter Accurate Global Positioning
`System Receiver for On-The-Fly Real Time Kinematic
`Measurement and Control”, incorporated herein by refer-
`ence.
`
`FIG. 3b is a simplified block diagram of an alternate
`embodiment of the handheld survey device. The device 360
`is controlled by system controller and transform calculator
`362. Positioning signals are received via a GPS antenna 364
`and input to GPS Receiver/Processor 366. Preferably the
`GPS Receiver/Processor performs differential correction
`and therefore includes a differential receiver antenna 368
`
`and receiver 370; as is readily apparent to one skilled in the
`art, other forms of correction can be used. For example, an
`RTK GPS receiver (and its associated radios and antennas)
`
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`may be used in place of receiver/processor 366, differential
`receiver 370 and differential antenna 368 without departing
`from the general unit configuration shown in the diagram.
`Positioning data is transferred to the system controller and
`transform calculator 362 by GPS receiver processor 366 and
`DR unit 317. Transforms are applied to the positioning data
`received based upon the tilt provided by tilt meter 372,
`heading, provided by heading meter 374 and distance to the
`point to be measured, provided by distance meter 376 as
`pointed to by laser pointer 378. The transformed positioning
`data reflects the position of the point pointed to by laser
`pointer 378.
`The system 360 also includes a battery or other power
`source 380 used to power the device 360, a keyboard 382 to
`enable the user to input data such as notes or the like, and
`a display 384 to provide the usual feedback to the user. Data
`storage 386 is also included for temporary and semi-
`permanent storage of data collected and computed in accor-
`dance with the teachings of the present invention.
`The process for determining the position of a location
`using a handheld device is described with reference to FIG.
`4. At step 405, using the pointing device, the user points the
`handheld device to the location to be measured. At step 410,
`the slope and heading of the handheld device is determined.
`At step 415, the distance between the handheld device and
`the location to be measured also is determined. Positioning
`data, such as that received through a GPS antenna and
`receiver and/or DR unit,
`is acquired. This position data
`identifies the position of the handheld device (e.g., for GPS
`measurements, the position of the antenna). At step 420, the
`difference in position between the unit (e.g., the phase center
`of the GPS antenna) and the location to be measured is
`determined. This data used includes the tilt and heading of
`the handheld device,
`the distance between the handheld
`device and the location to be measured, and known offsets
`between the phase center of the antenna and the measuring
`device. Once the difference in position between the handheld
`unit and the location to be measured is determined, the
`GPS/DR data is adjusted to determine the position of the
`location. Thus, a user can easily acquire position measure-
`ments without the use of a cumbersome range pole and
`circular level.
`
`An example of a measurement to be performed by the
`handheld device of the present invention is described with
`respect to FIG. 5, FIG. 6a and FIG. 6b. FIG. 5 illustrates an
`elevational View of a handheld measuring device 500, which
`includes the antenna 505 having phase center 510. A dis-
`tance O1 is used to identify the difference in position
`between the phase center of the antenna 510 and the mea-
`suring center of the measuring device 515. The measuring
`device 515 determines the distance D1 between the location
`to be measured 520 and the measuring center of the mea-
`suring device 515. The antenna 505 receives positioning
`signals which determine the distance or location of the
`antenna phase center 510. The variable Q 525 corresponds
`to the tilt angle from vertical as measured by the inclinom-
`eter (not shown) included in the device. It should be noted
`that the inclinometer can be located anywhere on the axis of
`line 01 between the antenna phase center 510 and the
`pointing device 535.
`To relate the coordinates of the GPS antenna phase center
`510, given in latitude, longitude and latitude (or any x, y, z
`coordinate system) to the coordinates to the point being
`targeted by the laser pointer, the following coordinate trans-
`form is used. Let (D be the tilt angle of the laser beam in
`degrees measured from vertical by an appropriate instru-
`ment. Let 0 be the angle of the laser beam projected on the
`
`|PR2020-01192
`
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`7
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`6,067,046
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`local horizontal plane (x, y). For purposes of explanation, a
`local coordinate system in x, y, 2 as shown in FIG. 6a is
`defined, where X corresponds to East, y corresponds to
`North, and altitude corresponds to Z. The origin is centered
`on the laser beam source 515. The coordinates of the GPS
`
`la. The
`receiver antenna phase center be called x0, ya,
`coordinates of the point 520 to be measured are called xo‘,
`yo‘, 20'. The vector defined by the laser beam is length D2
`(this length includes the beam length D, plus the offset from
`phase center to laser 01). Reference to FIG. 6a,
`the two
`points are related as follows:
`
`10
`
`and,
`
`8
`-continued
`Dz cosa cos/3
`=— =chosa
`cosfi
`
`
`1
`cosfi?
`
`ny=Az=
`
`Ax = Dz cosasinlB
`
`Ay=Dyz sin or
`
`Dyz=D2 cos [5
`
`.'.Ay=D2 sin or cos [3
`
`x0’=xu+Ax
`
`y..’=yu+Ay
`
`zo’=zo+Az
`
`Where by inspection of FIG. 6b:
`
`'x=D2 (sin (2))(sin 6)
`
`'y=D2 (sin ¢)(cos 6)
`
`'z=—D2 cos (25
`
`Or
`
`xu’=xL,+D2 (sin ¢)(sin 6)
`
`yu’=yL,+D2 (sin (2))(cos 9)
`
`zu’=z(,D2 cos (2)
`
`An alternate example is illustrated with respect to FIGS.
`7a, 7b, 7c and 8. In the previous example, the computations
`performed take into account movement of the user’s forearm
`when computing the location of the desired point to be
`determined. In the present example, as illustrated in FIG. 7a,
`the handheld device 105 includes two inclinometers 710,
`715 oriented perpendicular to one another. These inclinom-
`eters may form part of the DR system or may be indepen-
`dent. The two inclinometers 710, 715 can be located at any
`elevation (AZ) independently of one another. The first incli-
`nometer 710 measures the tilt of the device along the
`lengthwise axis in the yz plane, which corresponds to
`“elevation”. The second inclinometer 715 measures the tilt
`
`along the width-wise axis (angle [3) in the xz plane which
`corresponds to “roll”. This is illustrated by the diagrams of
`FIGS. 7b and 7c.
`
`FIG. 8 illustrates the relationships among the various
`components utilized to determine the location to be mea-
`sured 820 that is pointed to by the pointing device. The
`origin of the local reference system corresponds to the phase
`center of the GPS antenna.
`
`Using intermediate lengths sz—Dyz:
`
`Az=Dyz cos or
`
`Ayz=Dz cos [5
`
`Az=D2 cos 0L cos |3
`
`where Dz is the known distance between the pointing device
`and the point
`to be measured (e.g.,
`laser beam length).
`Similarly,
`
`Ax = sz sinfi
`
`15
`
`Relative to the phase center, x0, yo, 20 of the antenna, the
`coordinates of the point to be measured 820 xo', yo', 20' are
`determined to be
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`x0 ’=xo+Ax
`
`yo’=yo+Ay
`
`zo’=zo+Az
`
`which equals,
`
`xo’=xo+D2 cos 0L sin |3
`
`yo’=yo+D2 sin 01 cos |3
`
`z(,’=zo+D2 cos 0L cos |3
`
`The invention has been described in conjunction with the
`preferred embodiment.
`It
`is evident
`that numerous
`alternatives, modifications, variations and uses will be
`apparent to those skilled in the art in light of the foregoing
`description.
`What is claimed is:
`
`1. A handheld device, comprising:
`a global positioning system (GPS) receiver unit config-
`ured to provide first positioning information signals;
`a dead reckoning unit configured to provide second posi-
`tioning information signals;
`a pointing element for pointing to a location to be mea-
`sured;
`a measuring element for measuring the distance between
`the location to be measured and the handheld device;
`a level and heading element that determines a tilt and
`orientation of the handheld device;
`a processor coupled to receive the first and second posi-
`tioning information signals, the distance between the
`location to be measured and the handheld device, and
`the level and headings of the handheld device, said
`processor computing the position of the location to be
`measured.
`
`55
`
`2. The handheld survey device of claim 1, wherein the
`GPS receiver comprises a real time kinematic (RTK) GPS
`receiver.
`
`60
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`65
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`3. The handheld survey device of claim 1, wherein the
`pointing element is a laser pointer.
`4. The handheld survey device of claim 1, wherein the
`pointing element is an optical plummet.
`5. The handheld survey device of claim 1, wherein the
`measuring element is a sonic-based measuring device.
`6. The handheld survey device of claim 1, wherein the
`measuring element is a laser-based measuring device.
`7. The handheld survey device of claim 1, wherein the
`processor computes the position of the location to be mea-
`sured in real time.
`
`|PR2020-01192
`
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`
`computing the position of the location using the position
`8. A method for surveying a location using a handheld
`signals, the measured distance between the location and
`device comprising the steps of:
`the handheld dev1ce, and the level and headlng 0f the
`positioning the handheld device to point to the location;
`handheld dev1ce.
`d
`.
`.
`h 1
`1
`dh d.
`f h h
`dh ldd .
`.
`9. The method for surveying as set forth in claim 8,
`eterminingt e eve an
`ea 1ngo t e an
`e
`ev1ce,
`wherein determining the position signals using GPS signals
`measuring the distance between the location and the
`comprises computing the position of the handheld device
`handheld device;
`using a real time kinematic (RTK) GPS receiver.
`determining the position of the handheld device using
`10. The method for surveying as set forth in claim 8,
`position signals indicative of the position of the hand-
`held device, the position signals being global position- 10 wherein the position of the location is computed in real time.
`ing system (GPS) signals and dead reckoning position
`signals; and
`
`$
`
`*
`
`*
`
`*
`
`*
`
`|PR2020-01192
`
`Apple EX1041 Page 16
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`IPR2020-0