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公开(公告)号：US09168946B2
公开(公告)日：2015-10-27
申请号：US12728046
申请日：2010-03-19
CPC分类号： B62D1/28 , A01B69/008 , B62D1/02 , G05D1/02
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20110231057A1
公开(公告)日：2011-09-22
申请号：US12728046
申请日：2010-03-19
CPC分类号： B62D1/28 , A01B69/008 , B62D1/02 , G05D1/02
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US08717232B2
公开(公告)日：2014-05-06
申请号：US13353220
申请日：2012-01-18
摘要： 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.
摘要翻译： 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。
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4.发明申请公开(公告)号：US20120299936A1
公开(公告)日：2012-11-29
申请号：US13301669
申请日：2011-11-21
申请人： Javad Ashjaee , Mikhail Gribkov , Lev B. Rapoport
发明人： Javad Ashjaee , Mikhail Gribkov , Lev B. Rapoport
CPC分类号： G01C21/00 , G01C15/00 , G01C15/008 , G01C21/005 , G01S19/14
摘要： A graphics-aided geodesic device is provided. The device includes an antenna for receiving position data from a plurality of satellites and a receiver coupled to the antenna. The device further includes orientation circuitry for obtaining orientation data. The orientation data represents an orientation of the apparatus with respect to a plane parallel with a horizon. The device further includes positioning circuitry for determining the position of the point of interest based at least on the position data and the orientation data.
摘要翻译： 提供了图形辅助测地装置。 该装置包括用于从多个卫星接收位置数据的天线和耦合到天线的接收机。 该装置还包括用于获得取向数据的定向电路。 取向数据表示装置相对于与水平线平行的平面的取向。 该装置还包括至少基于位置数据和取向数据来确定兴趣点的位置的定位电路。
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公开(公告)号：US08125376B1
公开(公告)日：2012-02-28
申请号：US12871705
申请日：2010-08-30
摘要： 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.
摘要翻译： 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 。
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6.发明授权Satellite differential positioning receiver using multiple base-rover antennas 有权卫星差分定位接收机使用多个基波罗的天线公开(公告)号：US08120527B2
公开(公告)日：2012-02-21
申请号：US12360808
申请日：2009-01-27
摘要： 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.
摘要翻译： 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。
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7.发明授权Satellite differential positioning receiver using multiple base-rover antennas 有权卫星差分定位接收机使用多个基波罗的天线公开(公告)号：US09035826B2
公开(公告)日：2015-05-19
申请号：US13369227
申请日：2012-02-08
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US08872700B2
公开(公告)日：2014-10-28
申请号：US13437366
申请日：2012-04-02
申请人： Javad Ashjaee , Lev B. Rapoport
发明人： Javad Ashjaee , Lev B. Rapoport
CPC分类号： G01S19/43 , G01S19/40 , G01S19/421
摘要： 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.
摘要翻译： 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。
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9.发明申请公开(公告)号：US20090189804A1
公开(公告)日：2009-07-30
申请号：US12360808
申请日：2009-01-27
IPC分类号： G01S1/00
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120188122A1
公开(公告)日：2012-07-26
申请号：US13353220
申请日：2012-01-18
IPC分类号： G01S19/12
摘要： 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.
摘要翻译： 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。
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