公开(公告)号：US09168946B2

公开(公告)日：2015-10-27

申请号：US12728046

申请日：2010-03-19

Applicant: Javad Ashjaee ,  Alexander V. Pesterev ,  Lev B. Rapoport

Inventor： Javad Ashjaee ,  Alexander V. Pesterev ,  Lev B. Rapoport

IPC: G05D1/02 ,  B62D1/28 ,  A01B69/04 ,  B62D1/02

CPC classification number: B62D1/28 ,  A01B69/008 ,  B62D1/02 ,  G05D1/02

Abstract: A computer-implemented method for generating at least one segment of an offset path for a vehicle based on at least one segment of a base path is provided. The at least one segment of the base path is represented by a stored set of data points. The computer-implemented method includes comparing the at least one segment of the base path to a curvature constraint to determine if the at least one segment of the base path violates the curvature constraint. The curvature constraint is based on a characteristic of the vehicle and a desired offset distance from the at least one segment of the base path. The characteristic reflects the vehicle's ability to traverse at least one segment of a path. The method further includes modifying the at least one segment of the base path to satisfy the curvature constraint, if the at least one segment of the base path violates the curvature constraint. At least one segment of an offset path for the vehicle to follow is generated based upon the desired offset distance from the modified at least one segment of the base path.

Abstract translation: 提供了一种用于基于基本路径的至少一个段来生成用于车辆的偏移路径的至少一个段的计算机实现的方法。 基本路径的至少一个段由一组存储的数据点表示。 计算机实现的方法包括将基本路径的至少一个段与曲率约束进行比较，以确定基本路径的至少一个段是否违反曲率约束。 曲率约束基于车辆的特性和距离基本路径的至少一个段的期望的偏移距离。 该特征反映了车辆穿过至少一段路径的能力。 如果基本路径的至少一个段违反曲率约束，该方法还包括修改基本路径的至少一个段以满足曲率约束。 基于与基本路径的修改的至少一个段的期望的偏移距离来生成用于车辆跟随的偏移路径的至少一个段。

公开(公告)号：US09035826B2

公开(公告)日：2015-05-19

申请号：US13369227

申请日：2012-02-08

Applicant: Javad Ashjaee ,  Lev B. Rapoport ,  Dmitry Kinkulkin ,  Vladimir Yefriemov

Inventor： Javad Ashjaee ,  Lev B. Rapoport ,  Dmitry Kinkulkin ,  Vladimir Yefriemov

IPC: G01S19/44 ,  G01S19/14 ,  G01S19/54

CPC classification number: G01S19/44 ,  G01S19/14 ,  G01S19/54

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract translation: 流动站处理器基于位于流动站处的多个天线与位于基地的多个天线之间的交互来确定流动站的位置。 漫游器天线可以包括具有位于至少两个辅助漫游器天线的天线图案的质心的相位中心的漫游器主天线。 流动站处理器可以基于至少两个漫游者天线（例如，漫游器主天线和至少一个漫游器辅助天线或至少两个漫游器辅助天线）相对于在...的相对位置来确定漫游器主天线的位置 基站收发器的至少两个天线。

公开(公告)号：US08872700B2

公开(公告)日：2014-10-28

申请号：US13437366

申请日：2012-04-02

Applicant: Javad Ashjaee ,  Lev B. Rapoport

Inventor： Javad Ashjaee ,  Lev B. Rapoport

IPC: G01S19/43 ,  G01S19/40

CPC classification number: G01S19/43 ,  G01S19/40 ,  G01S19/421

Abstract: The position of a global navigation satellite system (GNSS) surveying receiver is determined based on a plurality of RTK engines. A first RTK engine is implementing using a first set of parameters. A second RTK engine is implemented using a second set of parameter different than the first set. A plurality of GNSS signals are received from multiple satellites. At least one correction signal is received from at least one base receiver. A first position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A second position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A final position of the GNSS surveying receiver is determined based on the first position or the second position or a combination of both positions.

Abstract translation: 基于多个RTK引擎来确定全球导航卫星系统（GNSS）测量接收机的位置。 第一个RTK引擎正在使用第一组参数来实现。 使用与第一组不同的第二组参数来实现第二RTK引擎。 从多个卫星接收多个GNSS信号。 从至少一个基站接收机接收至少一个校正信号。 基于GNSS信号和至少一个校正信号，从第一RTK引擎确定第一位置。 基于GNSS信号和至少一个校正信号，从第一RTK引擎确定第二位置。 基于第一位置或第二位置或两个位置的组合来确定GNSS测量接收器的最终位置。

公开(公告)号：US20090189804A1

公开(公告)日：2009-07-30

申请号：US12360808

申请日：2009-01-27

Applicant: Javad Ashjaee ,  Lev B. Rapoport ,  Dmitry Kinkulkin ,  Vladimir Yefriemov

Inventor： Javad Ashjaee ,  Lev B. Rapoport ,  Dmitry Kinkulkin ,  Vladimir Yefriemov

IPC: G01S1/00

CPC classification number: G01S19/44 ,  G01S19/14 ,  G01S19/54

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract translation: 流动站处理器基于位于流动站处的多个天线与位于基地的多个天线之间的交互来确定流动站的位置。 漫游器天线可以包括具有位于至少两个辅助漫游器天线的天线图案的质心的相位中心的漫游器主天线。 流动站处理器可以基于至少两个漫游器天线（例如，漫游器主天线和至少一个漫游器辅助天线或至少两个漫游器辅助天线）相对于在...的相对位置来确定漫游器主天线的位置 基站收发器的至少两个天线。

公开(公告)号：US06456233B1

公开(公告)日：2002-09-24

申请号：US09875066

申请日：2001-06-05

Applicant: Mark Isaakovich Zhodzishky ,  Victor Abramovich Veitsel ,  Michail Y. Vorobiev ,  Javad Ashjaee

Inventor： Mark Isaakovich Zhodzishky ,  Victor Abramovich Veitsel ,  Michail Y. Vorobiev ,  Javad Ashjaee

IPC: G01S514

CPC classification number: H04B7/18552 ,  G01S19/37 ,  G01S19/41 ,  G01S19/44

Abstract: The measurements of two GPS and/or GLONASS receivers are related to a common time moment by extrapolating measurement data that has arrived through a connection link with a delay. This common time moment is defined by the user. Cycle slips in the phase-lock loops (PLLs) of the receivers, which may be caused by blockage of direct signals from the satellites, strong interference signals, and reflections, are deflected and corrected in a multi-loop nonlinear tracking system. The procedure of resolution of phase measurement ambiguities comprises the preliminary estimation of floating ambiguities by a recurrent (e.g., iterative) procedure including the simultaneous processing of code and phase measurements for all satellites for each processing time interval, and the gradual improvement of the result as the information is accumulated. After the resolution of ambiguity, the user coordinates are estimated with centimeter accuracy on the basis of phase measurements on the carrier frequency.

Abstract translation: 两个GPS和/或GLONASS接收机的测量结果与通过连接链路延迟到达的测量数据的公共时间相关。 这个通常的时间是用户定义的。 可能由于来自卫星的直接信号的阻塞，强干扰信号和反射引起的接收机的锁相环（PLL）中的周期滑移在多环非线性跟踪系统中被偏转和校正。 相位测量模糊度的分辨程序包括通过循环（例如迭代）程序对浮动模糊度进行初步估计，包括在每个处理时间间隔内对所有卫星进行代码和相位测量的同时处理，并将结果逐渐改进为 信息被累积。 在解模糊之后，基于载波频率上的相位测量，以厘米精度估计用户坐标。

公开(公告)号：US5749549A

公开(公告)日：1998-05-12

申请号：US578169

申请日：1995-12-29

Applicant: Javad Ashjaee

Inventor： Javad Ashjaee

IPC: F16M11/08 ,  F16M11/14 ,  F16M11/16 ,  F16M11/32 ,  G01C15/00 ,  G01S5/14 ,  G01S19/10 ,  G01S19/21 ,  G01S19/46 ,  H01Q1/12 ,  H01Q1/18 ,  F16M11/38

CPC classification number: H01Q1/18 ,  F16M11/14 ,  F16M11/16 ,  F16M11/2014 ,  F16M11/2092 ,  F16M11/32 ,  G01C15/00 ,  H01Q1/1235 ,  H01Q1/125 ,  G01S19/35

Abstract: A portable geodetic surveying station is disclosed which utilizes a GPS antenna attached to the top portion of a surveyor's stake, or other type monopod. By positioning the bottom portion of the monopod directly upon a desired ground location, and adjusting the angular position of the monopod so that it is precisely vertical, the GPS antenna may be quickly and accurately positioned level and directly above the desired ground location. Additionally, because the monopod has a known, fixed length, the height of the GPS antenna above the desired ground location will always be a constant, and will not vary from one survey point to the next. The GPS antenna and monopod are designed to be used in conjunction with a newly designed geodetic surveying tripod which can be quickly and conveniently set up to support the monopod in its vertical position directly above the desired ground location. The tripod of the present invention includes a tripod head which comprises a base platform, a first housing slidably mounted on the platform to permit the first housing to move along a first directional path, and a second housing slidably mounted within the first housing to permit the second housing to move along a second directional path, generally orthogonal to the first directional path. Mounted pivotally within the second housing is a gimbal which includes a central cavity for receiving the shaft of the monopod. The gimbal allows the angular position of the monopod and GPS antenna to be adjusted independently of the angular position tripod platform.

Abstract translation: 公开了一种便携式大地测量站，其使用附接到测量员桩的顶部的GPS天线或其他类型的独脚架。 通过将独脚架的底部部分直接定位在所需的地面位置上，并且调整独脚架的角度位置以使其是垂直的，则GPS天线可以被快速且准确地定位在期望的地面位置的正上方。 另外，由于独脚架具有已知的固定长度，因此GPS天线高于所需地面位置的高度将始终为常数，并且不会随着一个测量点而变化。 GPS天线和独脚架设计用于与新设计的大地测量三脚架结合使用，可以快速方便地设置，以便将垂直位置支撑在所需地面位置正上方的垂直位置。 本发明的三脚架包括三脚架头，其包括基座平台，可滑动地安装在平台上以允许第一壳体沿着第一方向路径移动的第一壳体和可滑动地安装在第一壳体内的第二壳体， 第二壳体沿着大致垂直于第一定向路径的第二定向路径移动。 枢转地安装在第二壳体内的是万向架，其包括用于接收独脚架的轴的中心腔。 万向节允许独角架和GPS天线的角位置独立于角位置三脚架平台进行调节。

公开(公告)号：US20130016006A1

公开(公告)日：2013-01-17

申请号：US13623802

申请日：2012-09-20

Applicant: Javad ASHJAEE ,  Sergey YUDANOV

Inventor： Javad ASHJAEE ,  Sergey YUDANOV

IPC: G01S19/21 ,  G01S19/42

CPC classification number: G01S19/21 ,  G01S19/35 ,  H04B17/23 ,  H04B17/318

Abstract: An apparatus for determining signal strength data within allocated GNSS frequency band(s) is provided. The apparatus includes a GNSS antenna. The GNSS antenna receives signals within the allocated GNSS frequency band. The apparatus further includes receiving circuitry. The receiving circuitry is for demodulating the received signals. The apparatus further includes a processor and memory for storing instructions, executable by the processor. The instructions include instructions for generating signal strength data for the received signals within the GNSS allocated frequency based on the demodulated signals, and for determining a position for a point of interest based upon the demodulated signals. Included in the apparatus is a display screen for displaying a graphical representation of the signal strength data of at least a portion of the at least one GNSS allocated frequency band. The graphical representation identifies interference within at least the portion of the at least one GNSS allocated frequency band.

Abstract translation: 提供了一种用于确定分配的GNSS频带内的信号强度数据的装置。 该装置包括GNSS天线。 GNSS天线在分配的GNSS频带内接收信号。 该装置还包括接收电路。 接收电路用于解调所接收的信号。 该装置还包括处理器和用于存储可由处理器执行的指令的存储器。 指令包括用于基于解调信号在GNSS分配频率内产生接收信号的信号强度数据的指令，以及用于基于解调信号来确定兴趣点的位置。 装置中包括用于显示至少一个GNSS分配频带的至少一部分的信号强度数据的图形表示的显示屏幕。 该图形表示在至少一个GNSS分配的频带的至少一部分内识别干扰。

公开(公告)号：US20120188122A1

公开(公告)日：2012-07-26

申请号：US13353220

申请日：2012-01-18

Applicant: Javad Ashjaee ,  Lev B. Rapoport ,  Mikhail Gribkov ,  Alexander Gribkov

Inventor： Javad Ashjaee ,  Lev B. Rapoport ,  Mikhail Gribkov ,  Alexander Gribkov

IPC: G01S19/12

CPC classification number: G01S19/43 ,  G01C11/00 ,  G01S5/16 ,  G01S19/47

Abstract: A handheld GNSS device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing. The device has a GNSS antenna and a communication antenna, both integral with the housing. The GNSS antenna receives position data from GNSS satellites. The communication antenna receives positioning assistance data from a base station. The GNSS antenna has a first antenna pattern, and the communication antenna has a second antenna pattern. The first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data, imaging circuitry for obtaining image data, and positioning circuitry for determining a position for the point of interest based on the position data, the positioning assistance data, the orientation data, and the image data.

Abstract translation: 手持GNSS装置包括壳体，与壳体一体的手柄，用于使用户能够握持装置，以及与壳体一体的显示屏。 该设备具有GNSS天线和与壳体一体的通信天线。 GNSS天线从GNSS卫星接收位置数据。 通信天线从基站接收定位辅助数据。 GNSS天线具有第一天线方向图，并且通信天线具有第二天线方向图。 第一和第二天线图案基本分离。 耦合到GNSS天线，在壳体内，是至少一个接收器。 此外，该设备在壳体内包括用于产生取向数据的定向电路，用于获得图像数据的成像电路和用于基于位置数据，定位辅助数据，定位数据确定兴趣点的位置的定位电路 ，和图像数据。

公开(公告)号：US20120139784A1

公开(公告)日：2012-06-07

申请号：US13369227

申请日：2012-02-08

Applicant: Javad Ashjaee ,  Lev B. Rapoport ,  Dmitry Kinkulkin ,  Vladimir Yefriemov

Inventor： Javad Ashjaee ,  Lev B. Rapoport ,  Dmitry Kinkulkin ,  Vladimir Yefriemov

IPC: G01S19/48 ,  G01S3/02

CPC classification number: G01S19/44 ,  G01S19/14 ,  G01S19/54

Abstract: A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Abstract translation: 流动站处理器基于位于流动站处的多个天线与位于基地的多个天线之间的交互来确定流动站的位置。 漫游器天线可以包括具有位于至少两个辅助漫游器天线的天线图案的质心的相位中心的漫游器主天线。 流动站处理器可以基于至少两个漫游者天线（例如，漫游器主天线和至少一个漫游器辅助天线或至少两个漫游器辅助天线）相对于在...的相对位置来确定漫游器主天线的位置 基站收发器的至少两个天线。

公开(公告)号：US20120050099A1

公开(公告)日：2012-03-01

申请号：US12871705

申请日：2010-08-30

Applicant: Javad ASHJAEE ,  Lev B. Rapoport ,  Mikhail Gribkov ,  Alexander Gribkov

Inventor： Javad ASHJAEE ,  Lev B. Rapoport ,  Mikhail Gribkov ,  Alexander Gribkov

IPC: G01S19/48 ,  G01S19/37 ,  G01S19/35 ,  G01S19/12 ,  G01S19/25

CPC classification number: G01S19/43 ,  G01C11/00 ,  G01S5/16 ,  G01S19/47

Abstract: A handheld GNSS device for determining position data for a point of interest is provided. The device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing for displaying image data and orientation data to assist a user in positioning the device. The device further includes a GNSS antenna and at least one communication antenna, both integral with the housing. The GNSS antenna receives position data from a plurality of satellites. One or more communication antennas receive positioning assistance data related to the position data from a base station. The GNSS antenna has a first antenna pattern, and the at least one communication antenna has a second antenna pattern. The GNSS antenna and the communication antenna(s) are configured such that the first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data of the housing based upon a position of the housing related to the horizon, imaging circuitry for obtaining image data concerning the point of interest for display on the display screen, and positioning circuitry, coupled to the at least one receiver, the imaging circuitry, and the orientation circuitry, for determining a position for the point of interest based on at least the position data, the positioning assistance data, the orientation data, and the image data.

Abstract translation: 提供了用于确定兴趣点的位置数据的手持式GNSS装置。 该装置包括壳体，与壳体一体的手柄，用于使用户能够握持装置，以及与壳体一体的显示屏幕，用于显示图像数据和取向数据，以帮助用户定位装置。 该装置还包括GNSS天线和至少一个与壳体一体的通信天线。 GNSS天线从多个卫星接收位置数据。 一个或多个通信天线从基站接收与位置数据相关的定位辅助数据。 GNSS天线具有第一天线方向图，并且所述至少一个通信天线具有第二天线方向图。 GNSS天线和通信天线被配置为使得第一和第二天线图案基本上分离。 耦合到GNSS天线，在壳体内，是至少一个接收器。 此外，该装置在壳体内包括用于基于与水平线相关的壳体的位置产生壳体的取向数据的定向电路，用于获得关于用于在显示屏上显示的兴趣点的图像数据的成像电路，以及 至少一个接收器，成像电路和取向电路的定位电路，至少基于位置数据，定位辅助数据，取向数据和图像数据来确定兴趣点的位置 。