# US 8,539,685 B2 · Integrated surveying and leveling > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,539,685 B2 - Document ID: US8539685B2 - Status: Granted - Kind: B2 - Application number: 13/010,071 - Filed: 2011-01-20 - Published: 2012-07-26 - Granted: 2013-09-24 - Earliest claimed: 2011-01-20 - Assignees: Trimble Navigation Limited - Applicants: Miguel Amor - Inventors: Miguel Amor - Web page: https://patentgrep.com/patent/US8539685B2 ## CPC - G01C 15/002: {Active optical surveying means (optical plumbing G01C15/105)} - G01C 15/06: Surveyors' staffs; Movable markers - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A method of determining a position of a point in a local coordinate system using a survey instrument comprising an integrated optical total station and digital level includes measuring an angle associated with the point. The angle may be measured about a vertical axis of the survey instrument, and the vertical axis may be substantially aligned with a local gravity vector. The method also includes determining a distance between the survey instrument and the point using an electronic distance measuring device and measuring a difference in height between a horizontal axis of the survey instrument and the point using a leveling staff positioned relative to the point. The horizontal axis may be substantially orthogonal to the vertical axis. The method also includes determining the position of the point in the local coordinate system using the angle, the distance, and the difference in height. ## Claims ### Claim 1 A method of determining a position of a point in a local coordinate system using a survey instrument comprising an integrated optical total station and digital level, the method comprising: measuring an angle associated with the point, the angle measured about a vertical axis of the survey instrument, the vertical axis being substantially aligned with a local gravity vector; determining a distance between the survey instrument and the point using an electronic distance measuring device; measuring a difference in height between a horizontal axis of the survey instrument and the point using a leveling staff positioned relative to the point, the horizontal axis being substantially orthogonal to the vertical axis; and determining the position of the point in the local coordinate system using the angle, the distance, and the difference in height. ### Claim 2 (depends on 1) The method of claim 1 wherein the leveling staff is positioned at the point. ### Claim 3 (depends on 1) The method of claim 1 wherein determining the position of the point in the local coordinate system comprises: determining a position of the point in an instrument coordinate system using the angle, the distance, and the difference in height; and determining the position of the point in the local coordinate system using the position of the point in the instrument coordinate system and a transformation between the instrument coordinate system and the local coordinate system. ### Claim 4 (depends on 1) The method of claim 1 wherein measuring the difference in height between the horizontal axis of the survey instrument and the point comprises optically determining a pattern on the leveling staff at a same height as the horizontal axis of the survey instrument. ### Claim 5 (depends on 1) The method of claim 1 wherein determining the difference in height between the horizontal axis of the survey instrument and the point comprises: determining a first difference in height between the horizontal axis of the survey instrument and a first point having a known elevation in the local coordinate system; and determining a second difference in height between the horizontal axis of the survey instrument and the point. ### Claim 6 (depends on 1) The method of claim 1 wherein the angle about the vertical axis of the survey instrument is determined using functionality provided by the optical total station portion of the survey instrument. ### Claim 7 (depends on 1) The method of claim 1 wherein the difference in height between the horizontal axis of the survey instrument and the point is determined using functionality provided by the digital level portion of the survey instrument. ### Claim 8 (depends on 1) The method of claim 1 further comprising stationing the survey instrument at a first location. ### Claim 9 (depends on 1) The method of claim 1 further comprising positioning the survey instrument at a known height above a survey monument having known coordinates in the local coordinate system. ### Claim 10 A method of determining an angle, distance, and elevation of a point using a survey instrument comprising an integrated optical total station and digital level, the method comprising: measuring an angle associated with the point, the angle measured about a vertical axis of the survey instrument; determining a distance between the survey instrument and the point using an electronic distance measuring device; and measuring a difference in height between a horizontal axis of the survey instrument and the point, the horizontal axis substantially orthogonal to a local gravity vector and the difference in height measured using a leveling staff positioned relative to the point. ### Claim 11 (depends on 10) The method of claim 10 wherein the leveling staff is positioned at the point. ### Claim 12 (depends on 10) The method of claim 10 wherein determining the distance between the survey instrument and the point comprises measuring a first distance between the survey instrument and a target coupled to the leveling staff and determining the distance between the survey instrument and the point. ### Claim 13 (depends on 10) The method of claim 10 wherein determining the distance between the survey instrument and the point comprises measuring the distance between the survey instrument and the point. ### Claim 14 (depends on 10) The method of claim 10 wherein measuring the difference in height between the horizontal axis of the survey instrument and the point comprises optically recognizing a pattern on the leveling staff at a same height as the horizontal axis of the survey instrument. ### Claim 15 (depends on 10) The method of claim 10 further comprising aligning the survey instrument with the local gravity vector. ### Claim 16 A survey instrument comprising an integrated optical total station and digital level, the survey instrument configured to determine a position of a point in a local coordinate system, comprising: a first measuring module configured to measure an angle associated with the point about a vertical axis of the survey instrument; a first determining module configured to determine a distance between the survey instrument and the point using an electronic distance measuring device; a second measuring module configured to measure a difference in height between a horizontal axis of the survey instrument and the point using a leveling staff positioned relative to the point, the horizontal axis substantially orthogonal to a local gravity vector; and a second determining module configured to determine the position of the point in the local coordinate system using the angle, the distance, and the difference in height. ### Claim 17 (depends on 16) The survey instrument of claim 16 wherein the second measuring module is further configured to optically determine a pattern on the leveling staff at a same height as the horizontal axis of the survey instrument, the pattern on the leveling staff used to determine the difference in height between the horizontal axis of the survey instrument and the point. ### Claim 18 (depends on 16) The survey instrument of claim 16 wherein the first measuring module comprises a telescope coupled to an angle measurement device. ### Claim 19 (depends on 16) The survey instrument of claim 16 wherein the second measuring module comprises: a pendulum configured to align the horizontal axis of the survey instrument substantially orthogonal to the local gravity vector; and an image sensor configured to identify a pattern on the leveling staff, the pattern on the leveling staff used to determine the difference in height between the horizontal axis of the survey instrument and the point. ### Claim 20 (depends on 16) The survey instrument of claim 16 wherein the first measuring module is configured to rotate about the horizontal axis and the vertical axis of the survey instrument, and the second measuring module is configured to rotate about only the vertical axis of the survey instrument.