1-10. (canceled)
11. A combustion pressure control system of an internal combustion engine having a plurality of combustion chambers and sub chambers which are communicated with those combustion chambers, the combustion pressure control system is provided with
spring devices each of which has elasticity and is formed to contract, which has one side in the contraction direction which is connected to a sub chamber which is communicated with one combustion chamber, and which has the other side opposite to the one side in the contraction direction which is connected to a sub chamber which is communicated with the other combustion chamber, wherein
the spring device is formed so as to contract while using a pressure change of the combustion chambers as a drive source when the pressures of combustion chambers reach a predetermined control pressure, and
when at least one of the one combustion chamber and the other combustion chamber reaches the control pressure in the time period from a compression stroke to a expansion stroke of combustion cycle, the spring device contracts, whereby volumes of the sub chambers increase and pressure rise of the combustion chambers is suppressed.
12. A combustion pressure control system as set forth in claim 11, wherein in the time period where the pressure of the one combustion chamber which is connected to the spring device reaches the control pressure, the pressure of the other combustion chamber is less than the control pressure.
13. A combustion pressure control system as set forth in claim 12, wherein when the one combustion chamber which is connected to the spring device is in a compression stroke, the other combustion chamber is in an intake stroke or an exhaust stroke.
14. A combustion pressure control system as set forth in claim 11, wherein the spring device include a fluid spring which is filled inside it with a compressible fluid.
15. A combustion pressure control system as set forth in claim 14, further provided with
an operating state detecting device which detects an operating state of the internal combustion engine,
a fluid storage part which is connected to an inside space of the fluid spring and stores fluid, and
a volume adjusting device which changes a volume of the fluid storage part, wherein
the system detects the operating state of the internal combustion engine, selects a maximum pressure of the combustion chambers in accordance with a detected operating state, and uses a selected maximum pressure of the combustion chambers as the basis to change a volume of the fluid storage part.
16. A combustion pressure control system as set forth in claim 15, wherein the volume adjusting device increases the volume of the fluid storage part the lower the maximum pressure of the combustion chambers selected in accordance with the operating state.
17. A combustion pressure control system as set forth in claim 14, further provided with
an operating state detecting device which detects an operating state of the internal combustion engine and
a connecting device which connects inside spaces of a plurality of fluid springs, wherein
the system detects the operating state of the internal combustion engine, selects a maximum pressure of the combustion chambers in accordance with a detected operating state, and uses a selected maximum pressure of the combustion chambers as the basis to change the number of the fluid springs which are connected to each other.
18. A combustion pressure control system as set forth in claim 17, wherein the connecting device increases the number of fluid springs which are connected to each other the lower the selected maximum pressure of the combustion chambers.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for determining a location of a target in a real-world coordinate system using a measuring device comprising a camera, the method comprising:
at a first location:
determining first location coordinates of the measuring device, wherein the first location coordinates comprise real-world coordinates;
determining a first gravitational direction; and
capturing a first image using the camera;
at a second location:
determining second location coordinates of the measuring device, wherein the second location coordinates comprise real-world coordinates; and
capturing a second image using the camera;
determining a plurality of correspondence points between the first image and the second image;
determining a first plurality of image coordinates for the plurality of correspondence points in the first image;
determining a second plurality of image coordinates for the plurality of correspondence points in the second image;
determining the location of the target in the real-world coordinate system by providing at least the first plurality of image coordinates, the second plurality of image coordinates, the first location coordinates, the second location coordinates, and the first gravitational direction to a bundle adjustment.
2. The method of claim 1 wherein the location of the target comprises a GNSS coordinate.
3. The method of claim 1 wherein determining the location of the target comprises:
determining a first camera tilt comprising a first pitch angle and a first roll angle; and
determining a second camera tilt comprising a second pitch angle and a second roll angle.
4. The method of claim 3 wherein determining the location of the target further comprises providing the first camera tilt, the second camera tilt, the first plurality of image coordinates, the second plurality of image coordinates, the first location coordinates, and the second location coordinates to a bundle adjustment.
5. The method of claim 3 wherein the first roll angle is determined by
tan
–
1
\u2062
–
g
y
g
x
2
+
g
z
2
,
wherein gx represents a component of the first gravitational direction in the x direction, gy represents a component of the first gravitational direction in the y direction, and gz represents a component of the first gravitational direction in the z direction.
6. The method of claim 3 wherein the first pitch angle is determined by
sin
–
1
\u2062
–
g
x
g
x
2
+
g
z
2
,
wherein gx represents a component of the first gravitational direction in the x direction, and gz represents a component of the first gravitational direction in the z direction.
7. The method of claim 3 further comprising propagating an error estimate from one or more of the determining steps to determine an error estimate for the location of the target.
8. The method of claim 1 further comprising determining an orientation of the camera at the first location.
9. The method of claim 1 wherein the location of the target comprises a location of one of the plurality of correspondence points.
10. The method of claim 1 wherein the camera is not accelerating when capturing the first image and the second image.
11. The method of claim 1 further comprising determining the plurality of correspondence points using an algorithm configured to identify correspondences in a plurality of images.
12. The method of claim 1 further comprising determining a second gravitational direction at the second location, wherein:
the plurality of correspondence points comprises four or more correspondence points; and
the determining the location of the target further uses at least the second gravitational direction.
13. A system for determining a location of a target, the system comprising:
a GNSS module configured to receive one or more GNSS signals;
a camera;
a gravitational measurement device; and
one or more processors configured to:
at a first location:
receive first location coordinates of the GNSS module from the GNSS module, wherein the first location coordinates comprise real-world coordinates;
receive a first gravitational direction from the gravitational measurement device; and
receive a first image from the camera; and
at a second location:
receive second location coordinates of the GNSS module from the GNSS module, wherein the second location coordinates comprise real-world coordinates; and
receive a second image from the camera;
determine a plurality of correspondence points between the first image and the second image;
determine a first plurality of image coordinates for the plurality of correspondence points in the first image;
determine a second plurality of image coordinates for the plurality of correspondence points in the second image; and
determine the location of the target in the real-world coordinate system by providing at least the first plurality of image coordinates, the second plurality of image coordinates, the first location coordinates, the second location coordinates, and the first gravitational direction to a bundle adjustment.
14. The system of claim 13 wherein the gravitational measurement device comprises a three-axis accelerometer.
15. The system of claim 13 further comprising a display screen.
16. The system of claim 15 wherein the one or more processors are further configured to receive, using the display screen, a selection of the plurality of correspondence points from a user.
17. The system of claim 15 wherein the display screen is configured to display the first image and the second image.
18. The system of claim 13 further comprising a hand-held enclosure that at least partially encloses the GNSS module, the gravitation measurement device, and the one or more processors.
19. The system of claim 13 the one or more processors are further configured to determine that the second plurality of image coordinates are not necessary, wherein a first roll angle of the camera at the first location is either approximately 90 degrees or 270 degrees.
20. The system of claim 13 wherein the one or more processors is further configured to operate as a bundle adjustment.