US5614913A
Expired / Lapsed
US
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Optimization of survey coordinate transformations
Assignee: Trimble Inc
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Filing: 1995-06-07
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Granted: 1997-03-25
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Expires: 2015-06-07
Abstract
Abstract A system for selecting an optimal transformation T(G2;G1) between a first ellipsoid E1 (e.g., WGS 84) in a first global coordinate system G1, relative to which the survey measurements are made, and a second ellipsoid E2 in a second global coordinate system G2. A set of location coordinates (x' m ,2, y' m ,2,z' m ,2) for M previously-surveyed locations, numbered m=1, . . . , M, and a set of location coordinates (x' n ,1, y' n ,1,z' n ,1) for N presently-surveyed locations, numbered n=1, . . . , N (M≦N) are provided, where the first M presently-surveyed locations coincide with the M previously-surveyed locations. The transformation is chosen so that the images of the location coordinates (x' n ,1,y' n ,1, z' n ,1) for n=1, . . . , M under T(G2;G1) are as close as possible to the corresponding location coordinates (x' m ,2,y' m ,2, z' m ,2) for m=1, . . . , M. Given an ellipsoid and a selected survey plane τ0 that is tangent to the ellipsoid at a selected location, a set of selected locations can be surveyed with reference to the ellipsoid, and the location coordinates of each such surveyed location can be mapped into a corresponding "survey location," defined by reference to a local coordinate system that uses the survey plane τ0 as its base. These transformations and projections are determined and optimized in real time, while a surveyor is measuring the presently-surveyed locations in the field. The instruments used for surveying may be part of a location determination system, such as a Global Positioning System, a Global Orbiting Navigational Satellite System or Loran.
Inventors
- 👤 Mark Nichols
- 👤 Kenneth W. McBride
- 👤 Ian Viney
- 👤 Arthur Taylor
- 👤 Richard Jackson
- 👤 John F. Schipper
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 03:50
CPC Classifications
G; G01; G01C; G01C15/00
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
313 words
A method for determining location coordinates for a plurality of surveyed locations, the method comprising the steps of: providing a location determination (LD) receiver having an LD signal antenna and an LD signal receiver/processor to receive and process LD signals transmitted from three or more LD signal sources, which are spaced apart from the LD receiver, and to use these LD signals to determine three-dimensional location coordinates for the LD signal antenna; using the LD signals received at the LD receiver to determine a first set of three-dimensional location coordinates (x' n ,1,y' n ,1,z' n ,1) for N selected presently-surveyed locations, numbered n=1, 2, . . . , N (N≧3) in a first coordinate system G1; providing a second set of three-dimensional location coordinates (x' m ,2, y' m ,2, z' m ,2) for M previously-surveyed locations, numbered m=1, 2, . . . , M (M≦N), where each previously-surveyed location number m=k is coincident with the presently-surveyed location number n=k for k=1, 2, . . . , M; providing a three-dimensional coordinate transformation T(G2;G1) of the first coordinate system G1 onto a second three-dimensional coordinate system G2, under which the location coordinates (x' n ,1, y' n ,1, z' n ,1) for each of the N presently-surveyed locations in G1 are transformed into location coordinates (x" n ,2, y" n ,2, z" n ,2) in G2 (n=1, 2, . . . , N); choosing the transformation T(G2;G1) so that the error sum ##EQU19## is minimized, where p is a selected positive number and e m ,f m and g m are selected non-negative weight coefficients; and determining the location coordinates (x" n ,2, y" n ,2, z" n ,2) for at least one of the presently surveyed locations (n=1, 2, . . . , N) under the transformation T(G2;G1), and displaying these location coordinates by a visually perceptible or audibly perceptible image.
Claim 2
Independent Claim
313 words
A method for determining location coordinates for a plurality of surveyed locations, the method comprising the steps of: providing a location determination (LD) receiver having an LD signal antenna and an LD signal receiver/processor to receive and process LD signals transmitted from three or more LD signal sources, which are spaced apart from the LD receiver, and to use these LD signals to determine three-dimensional location coordinates for the LD signal antenna; using the LD signals received at the LD receiver to determine a first set of three-dimensional location coordinates (x' n ,1,y' n ,1,z' n ,1) for N selected presently-surveyed locations, numbered n=1, 2, . . . , N (N≧3) in a first coordinate system G1; providing a second set of three-dimensional location coordinates (x' m ,2, y' m ,2, z' m ,2) for M previously-surveyed locations, numbered m=1, 2, . . . , M (M≦N), where each previously-surveyed location number m=k is coincident with the presently-surveyed location number n=k for k=1, 2, . . . , M; providing a three-dimensional coordinate transformation T(G2;G1) of the first coordinate system G1 onto a second three-dimensional coordinate system G2, under which the location coordinates (x' n ,1, y' n ,1, z' n ,1) for each of the N presently-surveyed locations in G1 are transformed into location coordinates (x" n ,2, y" n ,2, z" n ,2) in G2 (n=1, 2, . . . , N); choosing the transformation T(G2;G1) so that the error sum ##EQU19## is minimized, where p is a selected positive number and e m ,f m and g m are selected non-negative weight coefficients; and determining the location coordinates (x" n ,2, y" n ,2, z" n ,2) for at least one of the presently surveyed locations (n=1, 2, . . . , N) under the transformation T(G2;G1), and displaying these location coordinates by a visually perceptible or audibly perceptible image.
Claim 3
Dependent Claim
55 words
The method of claim 1, further comprising the step of choosing as said transformation T(G2;G1) the coordinate transformation x".sub.E2 =h.sub.11 x'.sub.E1 +h.sub.12 y'.sub.E1 +h.sub.13 z'.sub.E1 +h.sub.14, y".sub.E2 =h.sub.21 x'.sub.E1 +h.sub.22 y'.sub.E1 +h.sub.23 z'.sub.E1 +h.sub.24, z".sub.E2 =h.sub.31 x'.sub.E1 +h.sub.32 y'.sub.E1 +h.sub.33 z'.sub.E1 +h.sub.34, where h ij (i=1, 2, 3; j=1, 2, 3, 4) are selectable parameters.
Claim 4
Dependent Claim
73 words
The method of claim 2, further comprising the steps of: selecting said number p=2 and selecting all of said coefficients e m , f m and g m equal to a common positive number; and choosing said transformation parameters h ij to satisfy the relations ##EQU20## where each sum is a sum over i=1, 2, . . . , M), corresponding to the M previously-surveyed locations (i=1, 2, . . . , M).
Claim 5
Dependent Claim
186 words
The method of claim 1, further comprising the step of choosing as said transformation T(G2;G1) the transformation defined by (1) a first rotation of the coordinate system around a selected first coordinate axis by a first selected angle θ 1 , followed by (2) a second rotation of the coordinate system around a selected second coordinate axis by a selected second angle θ 2 , followed by (3) a third rotation of the coordinate system about a selected third coordinate axis by a selected third angle θ 3 , followed by (4) multiplication of the location coordinates resulting from the first, second and third rotations by a real number scale factor K, followed by (5) translation of the resulting first, second and third location coordinates by selected amounts Δx 1 , Δy 1 and Δz 1 , where θ 1 , θ 2 , θ 3 , K, Δx 1 , Δy 1 and Δz 1 , are selectable parameters, and where the selected second coordinate axis does not coincide with the selected first coordinate axis and does not coincide with the selected third coordinate axis.
Claim 6
Dependent Claim
68 words
The method of claim 4, further comprising the step of choosing as said transformation T(G2;G1) the coordinate transformation ##EQU21## where θ 3 =θ12, θ 2 =θ13 and θ 1 =θ23 are angles of rotation about the third, second and first rectangular coordinates axes, respectively, and Δx 1 , Δy 1 , and Δz 1 are translations parallel to the respective first, second and third coordinates axes in G1.
Claim 7
Dependent Claim
34 words
The method of claim 5, further comprising the steps of: selecting said number p=2 and selecting all of said coefficients e m , f m and g m equal to a common positive number.
Claim 8
Dependent Claim
36 words
The method of claim 1, further comprising the step of selecting said LD signal sources from the class of satellite-based LD signal sources consisting of Global Positioning System satellites and Global Orbiting Navigational Satellite System satellites.
Claim 9
Dependent Claim
47 words
The method of claim 1, further comprising the step of selecting said LD signal sources from the class of ground-based LD signal sources consisting of signal beacons for transmitting Loran signals, Tacan signals, Decca signals, Omega signals, JTIDS Relnav signals and Personal Location Reporting Service (PLRS) signals.
Claim 10
Independent Claim
298 words
A method for determining location coordinates for a plurality of surveyed locations, the method comprising the steps of: providing a location determination (LD) receiver having an LD signal antenna and an LD signal receiver/processor to receive and process LD signals transmitted from two or more LD signal sources, which are spaced apart from the LD receiver, and to use these LD signals to determine two-dimensional location coordinates for the LD signal antenna; using the LD signals received at the LD receiver to determine a first set of two-dimensional location coordinates (x' n ,1, y' n ,1) for N selected presently-surveyed locations, numbered n=1, 2, . . . , N (N≧3) in a first coordinate system G1; providing a second set of two-dimensional location coordinates (x' m ,2, y' m ,2) for M previously-surveyed locations, numbered m=1, 2, . . . , M (M≦N), where each previously-surveyed location number m=k is coincident with the presently-surveyed location number n=k for k=1, 2, . . . , M; providing a two-dimensional coordinate transformation T(G2;G1) of the first coordinate system G1 onto a second two-dimensional coordinate system G2, under which the location coordinates (x' n ,1, y' n ,1) for each of the N presently-surveyed locations in G1 are transformed into location coordinates (x" n ,2, y" n ,2) in G2 (n=1, 2, . . . , N); choosing the transformation T(G2;G1) so that the error sum ##EQU22## is minimized, where p is a selected positive number and e m and f m are selected non-negative weight coefficients; and determining the location coordinates (x" n ,2, y" n ,2) for at least one of the presently surveyed locations (n=1, 2, . . . , N) under the transformation T(G2;G1) ,and displaying these location coordinates by a visually perceptible or audibly perceptible image.
Claim 11
Independent Claim
298 words
A method for determining location coordinates for a plurality of surveyed locations, the method comprising the steps of: providing a location determination (LD) receiver having an LD signal antenna and an LD signal receiver/processor to receive and process LD signals transmitted from two or more LD signal sources, which are spaced apart from the LD receiver, and to use these LD signals to determine two-dimensional location coordinates for the LD signal antenna; using the LD signals received at the LD receiver to determine a first set of two-dimensional location coordinates (x' n ,1, y' n ,1) for N selected presently-surveyed locations, numbered n=1, 2, . . . , N (N≧3) in a first coordinate system G1; providing a second set of two-dimensional location coordinates (x' m ,2, y' m ,2) for M previously-surveyed locations, numbered m=1, 2, . . . , M (M≦N), where each previously-surveyed location number m=k is coincident with the presently-surveyed location number n=k for k=1, 2, . . . , M; providing a two-dimensional coordinate transformation T(G2;G1) of the first coordinate system G1 onto a second two-dimensional coordinate system G2, under which the location coordinates (x' n ,1, y' n ,1) for each of the N presently-surveyed locations in G1 are transformed into location coordinates (x" n ,2, y" n ,2) in G2 (n=1, 2, . . . , N); choosing the transformation T(G2;G1) so that the error sum ##EQU22## is minimized, where p is a selected positive number and e m and f m are selected non-negative weight coefficients; and determining the location coordinates (x" n ,2, y" n ,2) for at least one of the presently surveyed locations (n=1, 2, . . . , N) under the transformation T(G2;G1) ,and displaying these location coordinates by a visually perceptible or audibly perceptible image.
Claim 12
Dependent Claim
41 words
The method of claim 9, further comprising the step of choosing as said transformation T(G2;G1) the coordinate transformation x".sub.i,2 =h.sub.11 x'.sub.i,1 +h.sub.12 y'.sub.i,1 +h.sub.14, y".sub.i,1 =h.sub.21 x'.sub.i,1 +h.sub.22 y'.sub.i,1 +h.sub.24, where h ij (i=1, 2; j=1, 2, 4) are selectable parameters.
Claim 13
Dependent Claim
70 words
The method of claim 10, further comprising the steps of: selecting said number p=2 and selecting all of said coefficients e m and f m equal to a common positive number; and choosing said transformation parameters h ij to satisfy the relations ##EQU23## where each sum is a sum over i=1, 2, . . . , M), corresponding to the M previously-surveyed locations (i=1, 2, . . . , M).
Claim 14
Dependent Claim
42 words
The method of claim 9, further comprising the step of choosing as said transformation T(G2;G1) the coordinate transformation x.sub.2 =K(cos θ12)x.sub.1 +K(sin θ12)y.sub.1 +Δx.sub.1, y.sub.2 =K(-sin θ12)x.sub.1 +K(cos θ12)y.sub.1 +Δy.sub.1, where K, θ12, Δx 1 and Δy 1 are selectable transformation parameters.
Claim 15
Dependent Claim
48 words
The method of claim 12, further comprising the steps of: selecting said number p=2 and selecting all of said coefficients e m and f m equal to a common positive number; and choosing said transformation parameters K, θ12, Δx 1 and Δy 1 to satisfy the relations ##EQU24##
Claim 16
Dependent Claim
36 words
The method of claim 9, further comprising the step of selecting said LD signal sources from the class of satellite-based LD signal sources consisting of Global Positioning System satellites and Global Orbiting Navigational Satellite System satellites.
Claim 17
Dependent Claim
47 words
The method of claim 9, further comprising the step of selecting said LD signal sources from the class of ground-based LD signal sources consisting of signal beacons for transmitting Loran signals, Tacan signals, Decca signals, Omega signals, JTIDS Relnav signals and Personal Location Reporting Service (PLRS) signals.
References Cited (Backward Citations)
US5307289A
Cited
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