WO2007000067A1 - Method and system for acquiring azimuth information using signals provided by satellites - Google Patents

Method and system for acquiring azimuth information using signals provided by satellites Download PDF

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Publication number
WO2007000067A1
WO2007000067A1 PCT/CH2006/000334 CH2006000334W WO2007000067A1 WO 2007000067 A1 WO2007000067 A1 WO 2007000067A1 CH 2006000334 W CH2006000334 W CH 2006000334W WO 2007000067 A1 WO2007000067 A1 WO 2007000067A1
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WO
WIPO (PCT)
Prior art keywords
antenna
camera
total station
data
satellites
Prior art date
Application number
PCT/CH2006/000334
Other languages
French (fr)
Inventor
Timo Kahlmann
Hilmar Ingensand
Original Assignee
Eidgenössische Technische Hochschule Zürich
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eidgenössische Technische Hochschule Zürich filed Critical Eidgenössische Technische Hochschule Zürich
Publication of WO2007000067A1 publication Critical patent/WO2007000067A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G01C1/02—Theodolites
    • G01C1/04—Theodolites combined with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/58—Rotating or oscillating beam systems using continuous analysis of received signal for determining direction in the plane of rotation or oscillation or for determining deviation from a predetermined direction in such a plane

Definitions

  • the invention relates to a method and a system for acquiring azimuth information using signals provided by satellites .
  • Satellite positioning systems e.g. GPS for Global Positioning System, GLONASS, GALILEO, etc.
  • GLONASS Global Positioning System
  • GALILEO Global Positioning System
  • Another important parameter for the user is the information about the direction (i.e. angle direction) he or an object is facing.
  • WO 02/082119 discloses the use of two or more separate antennas provided in a distance one from another, e.g. at two different points on a vehicle.
  • DE 102 13 502 is also able to provide azimuth information based on GPS measurements .
  • the system uses two patch antennas arranged one close to another in such a manner that spatial coverage of each antenna overlap partially. Therefore common area will be formed and according to the position of the satellites, the direction can be determined.
  • DE 102 14 071 discloses a method for receiving azimuth information, using a device equipped with one plain GPS-antenna, which has a hemispherical shaped club that covers a part of the range .
  • the antenna stands upright to the ground. For that reason, half of the hemispherical club is directed to ground and therefore unusable.
  • the azimuth information is calculated based on satellite information scanned with the available half of the hemispherical club of the antenna.
  • the mentioned prior art has the drawback that quite a number of GPS satellites have to be available to be able to calculate accurate azimuth information.
  • Prior art does not provide for such a system of small device applications as 3D cameras and objects which need to be positioned in a fixed position without much movement throughout a measurement stage . Furthermore it is required that such a measurement system can be integrated in a quasi handheld device.
  • the invention uses positioning information from satellites to measure a direction by modulating their intensity.
  • a three dimensional measuring camera with further measuring methods or measuring instrument, will be claimed.
  • the advantages of each of the measuring methods will be combined.
  • the total station provides, beside its improvements of the data measured by the camera, also a calibration of the camera.
  • Non-permanent target points will be projected by, for example, the telescope of the total station, and those target points can be allocated to those points measured by the camera and the total station.
  • Various methods can be used for determine the direction of the measuring system such as a moveable satellite positioning system antenna or gating out parts of the received satellite signal and/or modulation of the remaining signal .
  • Fig. 1 shows schematically a total station combined with a three dimensional measuring camera
  • Fig. 2 shows schematically a three dimensional measuring camera combined with an electronic compass and/or IMU, a satellite positioning system (receiver and antenna) and an inclinometer,
  • Fig. 3 shows schematically a three dimensional measuring camera combined with an electronic compass and/or IMU, a satellite positioning system (receiver and antenna and with a shield)
  • Fig. 4 is a detail view of Fig. 2 and shows the combination of a satellite positioning system with an electronic compass and/or IMU
  • Fig. 5 is a detail view of Fig. 3 and shows the arrangement of the satellite positioning system and the shield, and
  • Fig. 6 is a view from above of Fig. 3 and shows the arrangement of the satellite positioning system and the shield,
  • Fig. 7 shows the relation of a point in the field to the coordinate system of a three dimensional camera
  • Fig. 8 shows a flowchart of the referencing of a three dimensional camera
  • Fig. 9 shows a flowchart of the calibration of a three dimensional camera.
  • measuring camera refers to a three dimensional measuring camera, that produces accurate three- dimensional pictures.
  • Geographical referencing refers to a method in which information about a geographical position and its direction is going to be linked with a dataset of the earth image (e.g. map, geographical information system or local coordinate system) .
  • a dataset of the earth image e.g. map, geographical information system or local coordinate system
  • measuring unit is used for the whole unit, which comprises at least a combination of a three dimensional measuring camera with further position defining and/or direction defining measuring methods and measuring instruments. Due to the measuring unit geographical referencing became possible.
  • Global positioning system refers to any system based on a plurality of satellites to obtain precise location information.
  • An existing specimen of such a global positioning system is the well known NAVSTAR-GPS-system.
  • a system called GALILEO will follow.
  • Fig 1 shows schematically a measuring camera 1 combined with a total station 2.
  • the measuring camera 1 is onto or within the optical system of the total station 2.
  • the measuring camera can be independent from the total station or the measuring camera may be located near the upper part of the theodolite, which is a part of the total station 2. Combination of the measuring camera with any other optical surveying system is also possible.
  • Total station 2 is mounted on a tripod, pole, handhold or mounted otherwise, e.g. roof of a car 20. This indicates that it is contemplated that the device according to the invention can be used in still standing, inert environments. It is the aim of the method to provide a solution to the acquisition of data relating to a direction or orientation of the device at a precise point within a short time. But also kinematic acquisition is possible.
  • the measuring camera can be calibrated with the aid of the total station and by means of data processing.
  • the data processing determines the differences between the coordinates calculated by means of the total station measurements and the coordinates related to the three dimensional camera. Therefore the functional relation between these two datasets
  • the referencing of the three dimensional camera data is shown in Fig. 9. If the total station is oriented and positioned in a certain coordinate system (e.g. total station coordinate system or a georeferenced coordinate system) the coordinates related to the three dimensional camera can be transformed by means of a precedent determination of the transforming parameters directly into total station related coordinates.
  • a certain coordinate system e.g. total station coordinate system or a georeferenced coordinate system
  • Fig. 2 shows a combination of a measuring camera 1, e.g. as mentioned before, with a satellite positioning system 4, comprising a satellite positioning receiver and an antenna, and mounted together with an electronic compass 9 and/or an IMU. Between the tripod, pole, handhold or mounted otherwise, e.g. roof of a car 20 and the camera 1 is provided an inclinometer 10, instead of the inclinometer in the total station.
  • the satellite positioning system 4 and the electronic compass 9 and/or the IMU are both connected to the measuring camera 1.
  • the antenna detects the signal, which is broadcasted by positioning satellites, whereas the satellite positioning receiver uses the dataset provided by the antenna to determine the geographical location of the measuring unit .
  • Said antenna 4 is mounted in a movable manner, allowing it to move, e.g. swaying, pivoting etc. Due to the resulting satellite signal variation and due to the fact that the reception club of the antenna can have an inhomogeneous structure, which effects add when the antenna 4 is in motion, the angular spatial orientation of the antenna and therefore the spatial orientation of the measuring unit becomes determinable .
  • Fig. 4 shows the combination of a satellite positioning system 4, as mentioned before, and an electronic compass 9 and/or an IMU, which is mounted at the lower part of the satellite positioning system.
  • Figs. 3 and 5 show a combination of the measuring camera 1, mentioned before, with a satellite positioning system 4 and with a shield 5.
  • the antenna detects the signal, which is broadcasted by positioning satellites, whereas the satellite positioning system uses the dataset provided by the antenna to determine the geographical location of the measuring unit .
  • the measuring camera 1 is attached to the measuring unit in the same manner as described above.
  • the satellite signal has to be modulated, e.g. amplitude modulated.
  • the use of a shield 5, which is made out of a material that has the properties to shield such satellite signals, is an appropriate method to (partially) interrupt said signal.
  • the shield 5 can be mounted movable with motor 7 about the antenna 4 or on a fixed position.
  • the position of the shield is determined by encoder 6, to provide information about the actual position of the shield.
  • Fig. 5 shows a possible configuration of the antenna 4 and the shield 5 by which the shield 5 is attached at the lower part of the antenna 4.
  • Said shield 5 is able to rotate around the central axis 11 of the antenna, e.g. with a constant angular velocity.
  • Said shield can cover an angular azimuth area of e.g. 10 to 90 degrees, here approximately 30 degrees.
  • an inclinometer 10 can also be used to provide information about the inclination of the measuring unit.
  • Fig. 6 shows a schematically plan view on the device according to Fig. 5.
  • the shield 5 comprises a complete angular coverage between two great circles of the half-sphere of the cover, i.e. the side edges of the shield come together in one point at the top of the sphere of the cover, i.e. the zenith.
  • the cover of the antenna can comprise a plurality of different shielded angular stripes, e.g. stripes of between 10 and 50 degrees with different signal reductions between e.g. 0 and 80 percent, e.g. 25, 50 and 75 percent.
  • the pattern of these signal reductions directly allow to calculate the direction of the device.
  • a rotating cover is preferably disposed inside an outer protective cover 8.
  • Fig. 7 shows schematically the functionality of a three dimensional camera.
  • a three dimensional camera as it is known by someone skilled in the art, comprises at least optical means, an emitter and a semiconductor device with the ability to capture radiation which is mapped onto it by the optical means .
  • the emitted modulated radiation is partially reflected from objects in the field of view back to the camera and detected and/or demodulated by semiconductor device.
  • the distance towards point in the field of view corresponding to the pixels, coordinates of the environment in the field of view can be determined. These coordinates are related to the camera coordinate system.
  • Such a processing can be found in Kahlmann T., and Ingensand H. in "Calibration and improvements of the high- resolution range-imaging camera SwissRanger" in Conference on Videometrics VIII, part of the IS&T/SPIE Symposium on Electronic Imaging 2005, 16-20 January 2005, San Jose (USA) .

Abstract

A method and system for acquiring azimuth information of a device using signals transmitted from satellites comprises an antenna (4) for global positioning systems having at least a hemispherical antenna pattern covering at least part of the sky above the antenna (4) and is mounted together with the device. Modulation means cause a modulation over time of at least one receivable satellite signal for a predetermined azimuth angle area, and a control unit with calculating means to calculate the direction of the device through evaluation of the modulated satellite signals .

Description

Method and system for acquiring azimuth information using signals provided by satellites
A. Technical field of the invention
The invention relates to a method and a system for acquiring azimuth information using signals provided by satellites .
B. Description of the prior art
Satellite positioning systems (e.g. GPS for Global Positioning System, GLONASS, GALILEO, etc.) provide accurate information about a geographical location (i.e. latitude, longitude and elevation) . Another important parameter for the user is the information about the direction (i.e. angle direction) he or an object is facing.
It is known from the prior art to provide information about the direction of an object based on GPS measurements.
WO 02/082119 discloses the use of two or more separate antennas provided in a distance one from another, e.g. at two different points on a vehicle.
Another device using two GPS antennas is known from WO 03/054576.
DE 102 13 502 is also able to provide azimuth information based on GPS measurements . The system uses two patch antennas arranged one close to another in such a manner that spatial coverage of each antenna overlap partially. Therefore common area will be formed and according to the position of the satellites, the direction can be determined. DE 102 14 071 discloses a method for receiving azimuth information, using a device equipped with one plain GPS-antenna, which has a hemispherical shaped club that covers a part of the range . The antenna stands upright to the ground. For that reason, half of the hemispherical club is directed to ground and therefore unusable. The azimuth information is calculated based on satellite information scanned with the available half of the hemispherical club of the antenna.
The mentioned prior art has the drawback that quite a number of GPS satellites have to be available to be able to calculate accurate azimuth information.
C. Summary of the invention
It is therefore an object of the present invention to provide a system and a method for acquiring azimuth information using signals provided by satellites, especially to detect a direction of an object with the aid of signals provided by satellite posi- tioning systems .
Prior art does not provide for such a system of small device applications as 3D cameras and objects which need to be positioned in a fixed position without much movement throughout a measurement stage . Furthermore it is required that such a measurement system can be integrated in a quasi handheld device.
For this purpose, according to the invention, the invention uses positioning information from satellites to measure a direction by modulating their intensity. Additionally the combination of a three dimensional measuring camera with further measuring methods or measuring instrument, will be claimed. Thereby the advantages of each of the measuring methods will be combined. For example the combination of a three-dimensional measuring camera with a highly accurate total station will become a novel scanning system. The total station provides, beside its improvements of the data measured by the camera, also a calibration of the camera. Non-permanent target points will be projected by, for example, the telescope of the total station, and those target points can be allocated to those points measured by the camera and the total station. Furthermore, it becomes readily possible, by means of position and orientation of the total station, to create an accurate definition of the actual position and location of the actual position, e.g. a geographical position.
Various methods can be used for determine the direction of the measuring system such as a moveable satellite positioning system antenna or gating out parts of the received satellite signal and/or modulation of the remaining signal .
D. Short description of the drawings
The drawings will be explained in greater detail by means of a description of an exemplary embodiment, with reference to the following figures :
Fig. 1 shows schematically a total station combined with a three dimensional measuring camera,
Fig. 2 shows schematically a three dimensional measuring camera combined with an electronic compass and/or IMU, a satellite positioning system (receiver and antenna) and an inclinometer,
Fig. 3 shows schematically a three dimensional measuring camera combined with an electronic compass and/or IMU, a satellite positioning system (receiver and antenna and with a shield) , Fig. 4 is a detail view of Fig. 2 and shows the combination of a satellite positioning system with an electronic compass and/or IMU,
Fig. 5 is a detail view of Fig. 3 and shows the arrangement of the satellite positioning system and the shield, and
Fig. 6 is a view from above of Fig. 3 and shows the arrangement of the satellite positioning system and the shield,
Fig. 7 shows the relation of a point in the field to the coordinate system of a three dimensional camera,
Fig. 8 shows a flowchart of the referencing of a three dimensional camera,
Fig. 9 shows a flowchart of the calibration of a three dimensional camera.
Ej; Detailed description of exemplary embodiments
In the description, measuring camera refers to a three dimensional measuring camera, that produces accurate three- dimensional pictures.
Geographical referencing refers to a method in which information about a geographical position and its direction is going to be linked with a dataset of the earth image (e.g. map, geographical information system or local coordinate system) .
The term measuring unit is used for the whole unit, which comprises at least a combination of a three dimensional measuring camera with further position defining and/or direction defining measuring methods and measuring instruments. Due to the measuring unit geographical referencing became possible.
Global positioning system refers to any system based on a plurality of satellites to obtain precise location information. An existing specimen of such a global positioning system is the well known NAVSTAR-GPS-system. A system called GALILEO will follow. Furthermore it is also possible to use different non- related satellites using position and passing time data from an almanac instead or additionally to said plurality of global positioning system satellites.
Same reference numerals always indicate identical features throughout all drawings .
Fig 1 shows schematically a measuring camera 1 combined with a total station 2. The measuring camera 1 is onto or within the optical system of the total station 2. In other embodiments the measuring camera can be independent from the total station or the measuring camera may be located near the upper part of the theodolite, which is a part of the total station 2. Combination of the measuring camera with any other optical surveying system is also possible.
Total station 2 is mounted on a tripod, pole, handhold or mounted otherwise, e.g. roof of a car 20. This indicates that it is contemplated that the device according to the invention can be used in still standing, inert environments. It is the aim of the method to provide a solution to the acquisition of data relating to a direction or orientation of the device at a precise point within a short time. But also kinematic acquisition is possible.
Various analysis methods allow therefore a calibration of the measuring camera 1 and the combination of both, the dataset, measured by the measuring camera 1, and the dataset, measured by the total station 2. As shown in Fig. 8 the measuring camera can be calibrated with the aid of the total station and by means of data processing. The data processing determines the differences between the coordinates calculated by means of the total station measurements and the coordinates related to the three dimensional camera. Therefore the functional relation between these two datasets
(possibly combined with additional information form the inclinometer, GPS or oriented GPS and/or an inertial measurement unit
(IMU)) allows a calibration of the camera data.
The referencing of the three dimensional camera data is shown in Fig. 9. If the total station is oriented and positioned in a certain coordinate system (e.g. total station coordinate system or a georeferenced coordinate system) the coordinates related to the three dimensional camera can be transformed by means of a precedent determination of the transforming parameters directly into total station related coordinates.
Fig. 2 shows a combination of a measuring camera 1, e.g. as mentioned before, with a satellite positioning system 4, comprising a satellite positioning receiver and an antenna, and mounted together with an electronic compass 9 and/or an IMU. Between the tripod, pole, handhold or mounted otherwise, e.g. roof of a car 20 and the camera 1 is provided an inclinometer 10, instead of the inclinometer in the total station.
The satellite positioning system 4 and the electronic compass 9 and/or the IMU are both connected to the measuring camera 1. The antenna detects the signal, which is broadcasted by positioning satellites, whereas the satellite positioning receiver uses the dataset provided by the antenna to determine the geographical location of the measuring unit . Said antenna 4 is mounted in a movable manner, allowing it to move, e.g. swaying, pivoting etc. Due to the resulting satellite signal variation and due to the fact that the reception club of the antenna can have an inhomogeneous structure, which effects add when the antenna 4 is in motion, the angular spatial orientation of the antenna and therefore the spatial orientation of the measuring unit becomes determinable .
Fig. 4 shows the combination of a satellite positioning system 4, as mentioned before, and an electronic compass 9 and/or an IMU, which is mounted at the lower part of the satellite positioning system.
Figs. 3 and 5 show a combination of the measuring camera 1, mentioned before, with a satellite positioning system 4 and with a shield 5. The antenna detects the signal, which is broadcasted by positioning satellites, whereas the satellite positioning system uses the dataset provided by the antenna to determine the geographical location of the measuring unit . The measuring camera 1 is attached to the measuring unit in the same manner as described above.
To determine the angular direction, the satellite signal has to be modulated, e.g. amplitude modulated. The use of a shield 5, which is made out of a material that has the properties to shield such satellite signals, is an appropriate method to (partially) interrupt said signal. The shield 5 can be mounted movable with motor 7 about the antenna 4 or on a fixed position. The position of the shield is determined by encoder 6, to provide information about the actual position of the shield.
Fig. 5 shows a possible configuration of the antenna 4 and the shield 5 by which the shield 5 is attached at the lower part of the antenna 4. Said shield 5 is able to rotate around the central axis 11 of the antenna, e.g. with a constant angular velocity. Said shield can cover an angular azimuth area of e.g. 10 to 90 degrees, here approximately 30 degrees.
As an optional device an inclinometer 10 can also be used to provide information about the inclination of the measuring unit.
Fig. 6 shows a schematically plan view on the device according to Fig. 5. The shield 5 comprises a complete angular coverage between two great circles of the half-sphere of the cover, i.e. the side edges of the shield come together in one point at the top of the sphere of the cover, i.e. the zenith.
Instead of a rotating shield, the cover of the antenna can comprise a plurality of different shielded angular stripes, e.g. stripes of between 10 and 50 degrees with different signal reductions between e.g. 0 and 80 percent, e.g. 25, 50 and 75 percent. The pattern of these signal reductions directly allow to calculate the direction of the device.
It is also possible to have a cover showing polarizing effects which are different in one or more angular areas in view of the remaining cover surface, in a way to modulate the received satellite information in a different way depending on the point of entry into the cover.
These solution can use a fixed cover or a rotating cover. A rotating cover is preferably disposed inside an outer protective cover 8.
Fig. 7 shows schematically the functionality of a three dimensional camera. A three dimensional camera, as it is known by someone skilled in the art, comprises at least optical means, an emitter and a semiconductor device with the ability to capture radiation which is mapped onto it by the optical means . The emitted modulated radiation is partially reflected from objects in the field of view back to the camera and detected and/or demodulated by semiconductor device. Out of this process the distance towards point in the field of view, corresponding to the pixels, coordinates of the environment in the field of view can be determined. These coordinates are related to the camera coordinate system. Such a processing can be found in Kahlmann T., and Ingensand H. in "Calibration and improvements of the high- resolution range-imaging camera SwissRanger" in Conference on Videometrics VIII, part of the IS&T/SPIE Symposium on Electronic Imaging 2005, 16-20 January 2005, San Jose (USA) .
Fj, Reference numerals
1 measurement camera
2 total station
3 mounting arm i
4 satellite positioning system
5 shield
6 encoder
7 motor
8 protective cover
9 electronic compass
10 inclinometer, inertial navigation system / inertial measurement unit
11 central axis
20 tripod, pole, handhold or mounted otherwise

Claims

Claims
1. Method for acquiring azimuth information of a device using signals transmitted from satellites comprising disposing an antenna in normal direction for global positioning systems having at least a hemispherical antenna pattern covering at least part of the sky above the antenna and being mounted together with the device, causing a modulation over time of at least one receivable satellite signal for a predetermined azimuth angle area, and calculating the direction of the device through evaluation of the modulated satellite signals.
2. Method according to claim 1, wherein additional position data is obtained through evaluation of received position signals of a plurality of global positioning system satellites.
3. Method according to claim 1 or 2, wherein inclination data is obtained through evaluation of the modulated satellite signal and/or the plurality of global positioning system satellite signals.
4. Method according to one of claims 1 to 3, wherein the device comprises a 3D-camera and/or a total station and wherein the obtained data relating to direction and/or position of the device are transformed between the data of the 3D-camera and/or the total station and the data as calculated by the method according to claims 1 to 3.
5. System for acquiring azimuth information of a device (1) using signals transmitted from satellites comprising an antenna (4) for global positioning systems having at least a hemispherical antenna pattern covering at least part of the sky above the antenna and being mounted together with the device (1) , modulation means (5) causing a modulation in time of at least one receivable satellite signal for a predetermined azimuth angle area, and a control unit comprising calculation means for calculating the direction of the device (1) through evaluation of the modulated satellite signals.
6. System according to claim 5, wherein the device (1) comprises a 3D-camera (1) and/or a total station (2) and wherein the control unit comprises transformation means to cause a transformation between the data of the 3D-camera and/or the total station and the data as calculated by the method according to claims 1 to 4.
7. System according to claim 5 or 6, wherein modulation means (5) comprises an rotatable antenna with an inhomogeneous reception club for a predetermined azimuth angle area or comprises an rotatable shield means (5) covering a predetermined azimuth angle area of a sky covering antenna.
8. System according to claim 5 or 6 , wherein the system furthermore comprises an electronic compass and/or an inclinometer (10) and/or an inertial measurement unit.
9. System according to claim 5 or 6, wherein calibration parameters or referencing parameters of the three dimensional camera can be combined with a dataset, measured by the total station, to calibrate or reference the three dimensional camera.
PCT/CH2006/000334 2005-06-27 2006-06-20 Method and system for acquiring azimuth information using signals provided by satellites WO2007000067A1 (en)

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US60/693,777 2005-06-27

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