| 主权项 |
1. A method of performing data collection using a mobile data collection platform, the method comprising:
capturing an image that includes a point of interest, wherein the capturing is performed by an image capturing device that is an integral part of the mobile data collection platform; obtaining raw observables from a Global Navigation Satellite System (GNSS) chipset that is internal to the mobile data collection platform; determining a position fix based on the raw observables, wherein the position fix defines a location of an antenna associated with the GNSS chipset; calculating a location of an entrance pupil of the image capturing device as an offset from the location of the antenna; determining orientation information comprising a tilt angle and an azimuth angle of the mobile data collection platform, wherein the tilt angle is between a y platform axis of the mobile data collection platform and a local gravity vector, and the azimuth angle is between a reference direction and a pointing vector of the mobile data collection platform, wherein the pointing vector is in a known orientation relative to a compass heading, and 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; capturing scale information; and storing the image, the position fix, the scale information, and the orientation information in hardware memory of the mobile data collection platform, wherein the capturing, the obtaining, the determining of the position fix, the calculating, the determining of the orientation information, and the storing are performed by one or more hardware processors that are part of the mobile data collection platform, and wherein the one or more hardware processors are outside of the GNSS chipset of the mobile data collection platform. |
