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1. 发明申请

US20140267700A1 METHOD AND APPARATUS FOR IMAGE-BASED POSITIONING 有权
标题翻译：基于图像定位的方法和装置
公开(公告)号：US20140267700A1
公开(公告)日：2014-09-18
申请号：US14292355
申请日：2014-05-30
申请人： Trimble Navigation Limited
发明人： Sy Bor Wang , Hongbo Teng , Gregory C. Best , Omar Pierre Soubra , Bruno M. Scherzinger , Peter Glen France , James M. Janky
IPC分类号： G01B11/14
CPC分类号： G01B11/14 , G01C15/00 , G01C15/06 , G01S19/49 , G01S19/51 , G06K9/00664 , G06T7/73
摘要： Method and apparatus are provided for image based positioning comprising capturing a first image with an image capturing device. Wherein said first image includes at least one object. Moving the platform and capturing a second image with the image capturing device. The second image including the at least one object. Capturing in the first image an image of a surface; capturing in the second image a second image of the surface. Processing the plurality of images of the object and the surface using a combined feature based process and surface tracking process to track the location of the surface. Finally, determining the location of the platform by processing the combined feature based process and surface based process.
摘要翻译：提供了用于基于图像的定位的方法和装置，包括用图像捕获装置捕获第一图像。其中所述第一图像包括至少一个对象。移动平台并用图像捕获设备捕获第二个图像。第二图像包括至少一个对象。在第一张图像中捕获一张表面的图像; 在第二图像中捕获表面的第二图像。使用基于组合特征的过程和表面跟踪处理来处理对象和表面的多个图像以跟踪表面的位置。最后，通过处理基于组合特征的过程和基于表面的过程来确定平台的位置。

2. 发明申请

US20130332072A1 REFINING A POSITION ESTIMATE OF A LOW EARTH ORBITING SATELLITE 有权
标题翻译：修改低地面对等卫星的位置估计
公开(公告)号：US20130332072A1
公开(公告)日：2013-12-12
申请号：US13929302
申请日：2013-06-27
申请人： Trimble Navigation Limited
发明人： James M. Janky , Nicholas C. Talbot , Ulrich Vollath , Bruce D. Riter
IPC分类号： G01S19/07 , G01S19/40
CPC分类号： G01S19/07 , G01C21/00 , G01S19/40
摘要： In a method for refining a position estimate of a low earth orbiting (LEO) satellite a first position estimate of a LEO satellite is generated with a GNSS receiver on-board the LEO satellite. Corrections are received at the LEO satellite. The corrections are processed on-board the LEO satellite such that a corrected LEO satellite position estimate of the LEO satellite is generated for the first position estimate.
摘要翻译：在用于改善低地球轨道（LEO）卫星的位置估计的方法中，利用LEO卫星上的GNSS接收机产生LEO卫星的第一位置估计。 LEO卫星收到更正。修正在LEO卫星上进行处理，以便为第一位置估计产生LEO卫星的经修正的LEO卫星位置估计。

3. 发明申请

US20130195362A1 IMAGE-BASED GEOREFERENCING 有权
标题翻译：基于图像的景观
公开(公告)号：US20130195362A1
公开(公告)日：2013-08-01
申请号：US13799266
申请日：2013-03-13
申请人： Trimble Navigation Limited
发明人： James M. Janky , Michael V. McCusker , Harold L. Longaker , Peter G. France
IPC分类号： G06K9/46
CPC分类号： G06T7/0044 , G01C15/00 , G06K9/00 , G06K9/46 , G06T7/74 , G06T2207/10032 , G06T2207/20076
摘要： An image-based georeferencing system comprises an image receiver, an image identification processor, a reference feature determiner, and a feature locator. The image receiver is configured for receiving a first image for use in georeferencing. The image comprises digital image information. The system includes a communicative coupling to a georeferenced images database of images. The image identification processor is configured for identifying a second image from the georeferenced images database that correlates to the first image. The system includes a communicative coupling to a geographic location information system. The reference feature determiner is configured for determining a reference feature common to both the second image and the first image. The feature locator is configured for accessing the geographic information system to identify and obtain geographic location information related to the common reference feature.
摘要翻译：基于图像的地理参考系统包括图像接收器，图像识别处理器，参考特征确定器和特征定位器。图像接收器被配置为接收用于地理参考的第一图像。图像包括数字图像信息。该系统包括与图像的地理参考图像数据库的交流耦合。图像识别处理器被配置用于从与第一图像相关联的地理参考图像数据库中识别第二图像。该系统包括与地理位置信息系统的交流耦合。参考特征确定器被配置用于确定第二图像和第一图像两者共同的参考特征。特征定位器被配置用于访问地理信息系统以识别和获得与公共参考特征相关的地理位置信息。

4. 发明授权

US09602974B2 Dead reconing system based on locally measured movement 有权
公开(公告)号：US09602974B2
公开(公告)日：2017-03-21
申请号：US14268993
申请日：2014-05-02
申请人： Trimble Navigation Limited
发明人： Richard Rudow , Robert Wold , Venkateswaran Kasirajan , Nicholas C. Talbot , Peter Van Wyck Loomis , Shawn D. Weisenburger , James M. Janky
IPC分类号： H04W4/02 , G01S19/09 , G01S19/13 , G01S19/35 , G01S19/48 , G01S19/49 , G01S5/16 , H04W4/00 , G01S19/00
CPC分类号： H04W4/029 , G01S5/16 , G01S19/09 , G01S19/35 , G01S19/43 , G01S19/48 , G01S19/49 , H04W4/023 , H04W4/027 , H04W64/00
摘要： A Global Navigation Satellite System (GNSS) chipset embedded within the cellular device is accessed. The GNSS chipset calculates raw pseudoranges. The raw pseudoranges are extracted from the GNSS chipset for processing elsewhere in the cellular device outside of the GNSS chipset. A position fix is calculated based on the raw pseudoranges. At a first point in time, a first image, and at a second point in time, a second image are obtained with an image capturing device that is in a known physical relationship with the cellular device. An estimate of a distance that the cellular device moved from the first point in time to the second point in time is calculated by processing image data collected from the first point in time to the second point in time. The position fix is processed based on the estimate of the distance.

5. 发明授权

US09538336B2 Performing data collection based on internal raw observables using a mobile data collection platform 有权
标题翻译：使用移动数据收集平台，基于内部原始可观察性执行数据收集
公开(公告)号：US09538336B2
公开(公告)日：2017-01-03
申请号：US14515317
申请日：2014-10-15
申请人： Trimble Navigation Limited
发明人： Richard Rudow , Venkateswaran Kasirajan , Robert Wold , Nicholas C. Talbot , Peter Van Wyck Loomis , Shawn D. Weisenburger , James M. Janky , Michael V. McCusker
IPC分类号： H04W4/04 , H04M1/725 , G01S19/45
CPC分类号： H04W4/04 , G01S19/45 , H04M1/72572 , H04M2250/52
摘要： An image that includes a point of interest is captured using an image capturing device that is part of the mobile data collection platform. Raw observables are obtained from a GNSS chipset that is internal to the mobile data collection platform. A position fix of the mobile data collection platform is determined based on the raw observables where the position fix defines a location of an antenna. A location of an entrance pupil is calculated as an offset of the location of the antenna. Orientation information comprising a tilt angle and an azimuth angle is determined. The position fix and the orientation information are associated with a three dimensional location that the mobile data collection platform is at when the image was captured. Scale information is captured. The image, the position fix, the scale information, and the orientation information are stored in hardware memory of the mobile data collection platform.
摘要翻译：使用作为移动数据收集平台的一部分的图像捕获装置来捕获包含兴趣点的图像。原始可观测量是从移动数据采集平台内部的GNSS芯片组获得的。移动数据收集平台的位置确定基于定位天线位置的原始可观测量。入射光瞳的位置被计算为天线位置的偏移。确定包括倾斜角和方位角的定向信息。定位和方向信息与移动数据收集平台在拍摄图像时处于三维位置相关联。捕获缩放信息。图像，位置锁定，比例信息和取向信息存储在移动数据收集平台的硬件存储器中。

6. 发明授权

US09488736B2 Locally measured movement smoothing of GNSS position fixes 有权
标题翻译： GNSS定位的局部测量运动平滑
公开(公告)号：US09488736B2
公开(公告)日：2016-11-08
申请号：US14268898
申请日：2014-05-02
申请人： Trimble Navigation Limited
发明人： Shawn D. Weisenburger , Richard Rudow , Nicholas C. Talbot , Peter Van Wyck Loomis , James M. Janky
IPC分类号： G01S19/47 , G06T7/20 , G01S19/45 , G01S19/48 , G01S19/00
CPC分类号： G01S19/47 , G01S19/45 , G01S19/48 , G06T7/277 , G06T2207/10004 , G06T2207/20076
摘要： A method of improving position determination of a device using locally measured movement. A first position fix of a Global Navigation Satellite System (GNSS) receiver system of a device is accessed. A second position fix of the GNSS receiver system is accessed at a time subsequent to the first position fix. Locally measured device movement information is obtained from at least one sensor, that is in a known physical relationship to the device, for a time period after the first position fix and no later than the second position fix, wherein the at least one sensor comprises an image capture device. The quality of measurement of the second position fix is improved by disciplining the second position fix based on the locally measured device movement information.
摘要翻译：使用局部测量的运动来改善设备的位置确定的方法。访问设备的全球导航卫星系统（GNSS）接收机系统的第一个位置。 GNSS接收机系统的第二定位是在第一定位位置之后的一个时间被访问的。从至少一个传感器获得本地测量的设备移动信息，所述至少一个传感器在与第一位置锁定之间的时间段内并且不晚于第二位置锁定处于与设备的已知物理关系中，其中至少一个传感器包括图像捕获设备。通过基于局部测量的设备移动信息对第二定位进行规定来提高第二定位的测量质量。

7. 发明授权

US09134127B2 Determining tilt angle and tilt direction using image processing 有权
标题翻译：使用图像处理确定倾斜角和倾斜方向
公开(公告)号：US09134127B2
公开(公告)日：2015-09-15
申请号：US14172549
申请日：2014-02-04
申请人： Trimble Navigation Limited
发明人： Omar Pierre Soubra , James M. Janky , Christian Graesser , Shawn D. Weisenburger
IPC分类号： G01C9/00 , G01C15/00 , G01C15/06 , G01S19/48 , G01S19/51 , G01S19/53 , G01S1/72 , G06K9/00 , G06T7/00 , G01C9/06
CPC分类号： G01C15/00 , G01C9/06 , G01C15/06 , G01S1/725 , G01S19/48 , G01S19/51 , G01S19/53 , G06K9/00664 , G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： A method of determining a tilt angle and a tilt direction of a survey instrument. The survey instrument has an imaging device that captures first images at a first location. The first images include features from an environment around the survey instrument. The imaging device also captures second images at a second location. The second images include a portion of the features. A pose of the imaging device is determined at the second location using observed changes in location of a common portion of the features between the first images and the second images. The tilt angle and the tilt direction of the survey instrument at the second location are determined using the pose of the imaging device.
摘要翻译：确定测量仪器的倾斜角度和倾斜方向的方法。测量仪器具有在第一位置捕获第一图像的成像装置。第一张图像包括来自测量仪器周围环境的功能。成像装置还在第二位置捕获第二图像。第二个图像包括一部分特征。使用在第一图像和第二图像之间的特征的公共部分的位置的观察到的改变来确定成像装置的姿势在第二位置。使用成像装置的姿态确定第二位置处的测量仪器的倾斜角度和倾斜方向。

8. 发明申请

US20150170368A1 IMAGE-BASED GEOREFERENCING 有权
标题翻译：基于图像的景观
公开(公告)号：US20150170368A1
公开(公告)日：2015-06-18
申请号：US14605652
申请日：2015-01-26
申请人： Trimble Navigation Limited
发明人： James M. Janky , Michael V. McCusker , Harold L. Longaker , Peter G. France
IPC分类号： G06T7/00
CPC分类号： G06T7/0044 , G01C15/00 , G06K9/00 , G06K9/46 , G06T7/74 , G06T2207/10032 , G06T2207/20076
摘要： A computer-implemented method of providing georeferenced information regarding a location of capture of an image is provided. The method includes receiving a first image at an image-based georeferencing system, the first image comprising digital image information and identifying a cataloged second image that correlates to the first image;. The method further includes automatically determining reference features common to both the second image and the first image, accessing geographic location information related to the common reference features, utilizing the geographic location information related to the common features to determine a georeferenced location of capture of the first image and providing the georeferenced location of capture for access by a user of the image-based georeferencing system.
摘要翻译：提供了一种提供关于图像拍摄位置的地理参考信息的计算机实现的方法。该方法包括在基于图像的地理参考系统处接收第一图像，第一图像包括数字图像信息并且识别与第一图像相关联的编目的第二图像。该方法还包括自动确定第二图像和第一图像共同的参考特征，访问与公共参考特征相关的地理位置信息，利用与共同特征相关的地理位置信息来确定第一和第二图像的捕获的地理参考位置并提供地理参考的拍摄位置，以供基于图像的地理参考系统的用户访问。

9. 发明申请

US20150050907A1 COLLECTING EXTERNAL ACCESSORY DATA AT A MOBILE DATA COLLECTION PLATFORM THAT OBTAINS RAW OBSERVABLES FROM AN INTERNAL CHIPSET 有权
标题翻译：在移动数据采集平台上收集外部附件数据，从内部摄像头获取原始可观察
公开(公告)号：US20150050907A1
公开(公告)日：2015-02-19
申请号：US14516313
申请日：2014-10-16
申请人： Trimble Navigation Limited
发明人： Richard Rudow , Venkateswaran Kasirajan , Robert Wold , Nicholas C. Talbot , Peter Van Wyck Loomis , Shawn D. Weisenburger , James M. Janky , Michael V. McCusker
IPC分类号： H04W4/22 , H04W64/00 , H04M1/725 , H04W4/02
CPC分类号： H04W4/90 , G01S19/35 , G01S19/51 , H04M1/0254 , H04M1/72575 , H04M2250/52 , H04W4/02 , H04W4/023 , H04W64/00
摘要： External accessory data is collected at a mobile data collection platform (MDCP) provided by an external accessory of the MDCP. An image that includes a point of interest is captured using an image capturing device integral to the MDCP. Raw observables are obtained from a GNSS chipset internal to the MDCP. An position fix of the MDCP defines the location of an antenna and is determined based on the raw observables. An entrance pupil location is calculated as an offset off the antenna location. Orientation information comprising a tilt angle and an azimuth angle is determined. The position fix and orientation information are associated with a three dimensional location that the MDCP is at when the image was captured. External accessory data is received from an accessory external to the MDCP. The image, position fix, orientation information and external accessory data are stored in hardware memory of the MDCP.
摘要翻译：在由MDCP的外部附件提供的移动数据收集平台（MDCP）上收集外部附件数据。使用与MDCP集成的图像捕获装置来捕获包括兴趣点的图像。原始可观测量从MDCP内部的GNSS芯片组获得。 MDCP的位置定义了天线的位置，并且基于原始可观测量来确定。入射光瞳位置被计算为天线位置的偏移。确定包括倾斜角和方位角的定向信息。定位和定位信息与MDCP在捕获图像时处于三维位置相关联。从MDCP外部的附件接收外部附件数据。图像，位置锁定，方向信息和外部附件数据存储在MDCP的硬件存储器中。

10. 发明申请

US20150045059A1 PERFORMING DATA COLLECTION BASED ON EXTERNAL RAW OBSERVABLES USING A MOBILE DATA COLLECTION PLATFORM 有权
标题翻译：基于使用移动数据收集平台的外部原始观察器执行数据收集
公开(公告)号：US20150045059A1
公开(公告)日：2015-02-12
申请号：US14515343
申请日：2014-10-15
申请人： Trimble Navigation Limited
发明人： Richard Rudow , Venkateswaran Kasirajan , Robert Wold , Nicholas C. Talbot , Peter Van Wyck Loomis , Shawn D. Weisenburger , James M. Janky , Michael V. McCusker
IPC分类号： H04W4/04 , H04M1/02 , H04B1/707
CPC分类号： H04W4/04
摘要： An image that includes a point of interest is captured using an image capturing device that is an integral part of the mobile data collection platform. Raw observables are obtained from a GNSS raw observables provider that is external to and coupled with the mobile data collection platform. A position fix of the mobile data collection platform is determined based on the raw observables where the position fix is a location of an antenna. A location of an entrance pupil is calculated as an offset from the location of the antenna. Orientation information comprising a tilt angle and an azimuth angle is determined. The position fix and the orientation information are associated with a three dimensional location of the mobile data collection platform when the image was captured. Scale information is captured. The image, the position fix, the scale information, and the orientation information are stored in hardware memory of the mobile data collection platform.
摘要翻译：使用作为移动数据收集平台的组成部分的图像捕获装置捕获包括感兴趣点的图像。原始可观测量是从GNSS原始可观测供应商获得的，该供应商在移动数据采集平台外部并与其结合。移动数据收集平台的位置确定是基于位置固定是天线位置的原始可观测量来确定的。入射光瞳的位置被计算为与天线位置的偏移。确定包括倾斜角和方位角的定向信息。当拍摄图像时，位置定位和方向信息与移动数据收集平台的三维位置相关联。捕获缩放信息。图像，位置锁定，比例信息和取向信息存储在移动数据收集平台的硬件存储器中。

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