Synchronization of the position and orientation of a 3D measurement device and the position and orientation of an intelligent guidance device

摘要

There is described herein a method to synchronize the position and orientation of an IGD 3D Coordinate System with the position and orientation of a 3DM 3D Coordinate System, in which the IGD's gravity direction measurement device and electronic compass are used explicitly. There is also described a method for maintaining the synchronization while the IGD is moving, in which the IGD's three-axis accelerometer is used explicitly. There is further described how an IGD, once its position and orientation have been synchronized to the position and orientation of a 3DM, can be used to display 3D graphics that guide the measurement process.

主权项

1. A method for synchronizing a three-dimensional measurement device (3DM) having a 3DM internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM, with an intelligent guidance device (IGD) that is physically separate from the 3DM, the IGD having a display device, a gravity direction measurement device, an electronic compass, and an IGD internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the method comprising:
use of a processor for determining coordinates RPXIGD, RPYIGD, RPZIGD of a reference point RP in the IGD internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD; defining a coordinate system OEarth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth and a direction corresponding to a magnetic north pole as YIGD-Earth, from a perspective of the IGD; computing and applying a rigid transformation TIGD-To-IGDEarth to transform axes XIGD, YIGD, ZIGD of the IGD internal 3D coordinate system to XIGD-Earth, YIGD-Earth, ZIGD-Earth and the reference point RP having the coordinates RPXIGD, RPYIGD, RPZIGD to OEarth; determining coordinates RPX3DM, RPY3DM, RPZ3DM of the reference point RP in the 3DM internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM; defining a coordinate system OEarth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth using a direction opposite to gravity as Z3DM-Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth, from a perspective of the 3DM; and computing and applying a rigid transformation T3DM-To-3DMEarth to transform axes X3DM, Y3DM, and Z3DM of the 3DM internal 3D coordinate system to axes X3DM-Earth, Y3DM-Earth, Z3DM-Earth and the reference point RP having the coordinates RPX3DM, RPY3DM, RPZ3DM to OEarth.