JP5814620B2 - POSITION CORRECTION DATA GENERATION DEVICE, POSITION LOCATION DEVICE, POSITION CORRECTION DATA GENERATION DEVICE POSITION CORRECTION DATA GENERATION METHOD, POSITION POSITION DEVICE POSITION POSITIONING METHOD, POSITION CORRECTION DATA GENERATION PROGRAM, AND POSITION POSITION PROGRAM - Google Patents

Description

  The present invention includes, for example, a position correction data generation device, a position determination device, a user interface device, a position correction data generation method for a position correction data generation device, a position determination method for a position determination device, and a user interface for determining the position of a vehicle. The present invention relates to an apparatus information processing method, a position correction data generation program, a position location program, and a user interface program.

  Currently, a mobile mapping system (MMS: Mobile Mapping System) that performs three-dimensional measurement while moving in the surveying field is becoming widespread.

MMS can measure with a high accuracy of a map information level 500 (scale 1/500) in an environment where a GPS satellite (GPS: Global Positioning System) is visible.
However, in an environment where GPS satellites are not visible, such as under an overpass or a high-rise building, the location accuracy is determined using only the IMU (Internal Measurement Unit) data, so the measurement accuracy deteriorates. . Therefore, a method for correcting the position with high accuracy is required.

JP 2009-264983 A International Publication 2008/099915 Pamphlet

Kiichiro Ishikawa, Ryusuke Muraishi, Yoshiharu Amano, Takumi Hashizume, Yoshihiro Shima, Junichi Higuchi, Satoshi Shimizu, “Real City Space Modeling & Walkthrough System Using Mobile Mapping System and 3D Spatial Information Management System”, 13th Robotics Symposia, pp. 186-191, 2008 Kiichiro Ishikawa, Masafumi Takano, Naoyuki Sugawara, Junichi Higuchi, Yoshiharu Amano, Takumi Hashizume, “Study on Self-Localization Combining Survey Value of Road Features and GPS / IMU”, Robotics Mechatronics Lecture 2009, 1A2-B20, 2009.6 Gabriel Taubin, "Estimation of Planar Curves, Surfaces, and Nonplanar Space Curves Defined by Implicit Equations with Applications to Edge and Range Image Segmentation", IEEE Transactions ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, VOL. 13, NO. 11 NOVEBER 1991, pp 1115-1138

  An object of the present invention is to make it possible to determine the position with high accuracy even in an environment where GPS satellites are invisible.

The position locating device of the present invention is
A moving body data storage unit for storing moving body data including the coordinate value of the moving body equipped with the measuring device as the moving body coordinate value;
A measurement point data storage unit that stores measurement point data that is a coordinate value measured using the moving body and includes the coordinate values of a plurality of measurement points in the measurement region as measurement point coordinate values;
A reference point data storage unit that stores, as reference point data, data including coordinate values of a plurality of points in the measurement region as reference point coordinate values of reference points;
An area designation input unit for inputting an area designation for designating a specific area in the measurement area from an input device;
Based on the region designation input by the region designation input unit and the measurement point data stored in the measurement point data storage unit, a coordinate value of a specific point of the specific region is calculated as a first region coordinate value, and the region Area coordinate value calculation that calculates the coordinate value of the specific point of the specific area as a second area coordinate value based on the area designation input by the designation input unit and the reference point data stored in the reference point data storage unit And
The difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit is calculated as a coordinate value error, and data including the calculated coordinate value error is included in the mobile object data A correction data generation unit that generates the correction data used to correct the moving body coordinate values.

  According to the present invention, for example, the position can be determined with high accuracy even in an environment where GPS satellites are invisible.

1 is an external view of a measurement vehicle 100 according to Embodiment 1. FIG. FIG. 3 is a diagram illustrating an example of a satellite visible environment and a satellite invisible environment in the first embodiment. FIG. 2 is a functional configuration diagram of a position locating device 200 according to Embodiment 1. 5 is a flowchart showing a position location method of the position location apparatus 200 according to the first embodiment. The figure which shows the route point selection screen 201 and the reference point group data selection screen 202 in Embodiment 1. FIG. FIG. 5 shows a camera image selection screen 203 in the first embodiment. FIG. 6 shows a measurement point group confirmation screen 204 in the first embodiment. FIG. 6 is a diagram showing a method for generating a point cloud projection image 205A in the first embodiment. FIG. 3 is a partially enlarged view of an area designation screen 205 in the first embodiment. FIG. 6 is a diagram illustrating an example of a method for calculating region coordinate values 293 (coordinate values excluding height) in the first embodiment. FIG. 6 is a diagram illustrating an example of a method for calculating a region coordinate value 293 (height coordinate value) in the first embodiment. FIG. 3 is a diagram illustrating an example of hardware resources of the position location apparatus 200 according to the first embodiment.

Embodiment 1 FIG.
A mode for correcting the position data measured in the satellite invisible environment based on the measurement data of the laser scanner measured in the satellite visible environment and the measurement data of the laser scanner measured in the satellite invisible environment will be described.

FIG. 1 is an external view of a measurement vehicle 100 in the first embodiment.
The measurement vehicle 100 in Embodiment 1 is demonstrated based on FIG.

The measurement vehicle 100 (an example of a moving body) is a vehicle used in MMS (Mobile Mapping System). MMS is a system that travels in a measurement area with the measurement vehicle 100 and measures three-dimensional coordinate values of features (buildings, signs, white lines, etc.) around the road that has traveled.
Hereinafter, MMS measurement is referred to as “road periphery measurement”.

The measurement vehicle 100 includes three GNSS receivers 110, an IMU 120, odometry (not shown), two laser scanners 130, and two cameras 140.
These sensors (excluding odometry) are attached to a top plate 101 provided on the top of the measurement vehicle 100.

The GNSS receiver 110 includes an antenna for receiving a positioning signal from a satellite of GNSS (Global Navigation Satellite Systems). GPS (Global Positioning System) is an example of GNSS.
The GNSS receiver 110 calculates the pseudorange with the satellite, the phase of the carrier wave carrying the positioning signal, and the three-dimensional coordinate value based on the received positioning signal.
For example, of the three GNSS receivers 110, two GNSS receivers 110b and c are installed at the left and right end portions in front of the top board 101, and the remaining one GNSS receiver 110a is behind the top board 101. Install in the middle of

  An IMU 120 (Internal Measurement Unit) includes a gyro sensor that measures an angular velocity in three axes and an acceleration sensor that measures an acceleration in three axes.

  Odometry measures the traveling speed (vehicle speed) of the measuring vehicle 100.

The laser scanner 130 emits laser light while changing the radiation angle in the width direction of the measurement vehicle 100, and receives the laser light reflected by the feature located at the radiation destination.
The laser scanner 130 measures the time from when laser light is emitted until it is received, and calculates the distance from the feature by multiplying the measured time by the speed of light.
For example, one of the two laser scanners 130 is installed obliquely downward in front of the top plate 101, and the other laser scanner 130 is installed obliquely upward in the center portion of the top plate 101.

The front camera 140 images the front of the measurement vehicle 100.
Of the two front cameras 140, one front camera 140 is installed in front of the top plate 101 facing the front, and the other front camera 140 is installed obliquely downward in front of the top plate 101.

FIG. 2 is a diagram illustrating an example of a satellite visible environment and a satellite invisible environment in the first embodiment.
When passing through a general road 192 under the overpass of the highway 193 as in the measurement vehicle 100a of FIG. 2, the measurement vehicle 100a receives a positioning signal from the GNSS satellite 191 because the GNSS satellite 191 is shielded by the highway 193. Can not do it.
An environment in which a positioning signal cannot be received from the GNSS satellite 191 is referred to as a “satellite invisible environment”. Areas where high-rise buildings are concentrated also fall under the satellite invisible environment.

On the other hand, when passing along a general road 192 other than under an elevated road like the measurement vehicle 100b, the measurement vehicle 100b can receive a positioning signal from the GNSS satellite 191.
An environment in which a positioning signal can be received from the GNSS satellite 191 in this way is referred to as a “satellite visible environment”. Surrounding buildings are low in height, and areas where buildings are not dense also fall under the satellite-visible environment.

In the satellite visible environment, highly accurate positioning data can be obtained by correcting the positioning data using the IMU based on the observation data obtained by observing the positioning signal of the GNSS satellite 191.
However, in the satellite invisible environment, the positioning data using the IMU cannot be corrected, so that highly accurate positioning data cannot be obtained.

Therefore, the position locating apparatus according to the first embodiment uses a landmark 194 (for example, a pillar of a traffic light) that is common to the measurement data of the laser scanner measured in the satellite visible environment and the measurement data of the laser scanner measured in the satellite invisible environment. ) Measurement data is extracted.
The position locator calculates a correction amount of the positioning data in the satellite invisible environment based on the extracted measurement data of the landmark 194, and corrects the positioning data in the satellite invisible environment using the calculated correction amount. Thereby, highly accurate positioning data of a satellite invisible environment can be obtained.

FIG. 3 is a functional configuration diagram of the position locating device 200 according to the first embodiment.
A functional configuration of the position locating device 200 according to Embodiment 1 will be described with reference to FIG.

  The position locating device 200 (an example of a position correction data generating device, a position locating device, and a user interface device) includes a measurement path calculation unit 210, a measurement point group generation unit 220, a user interface unit 230, a position locating unit 240, and a locating device storage unit. 290.

The orientation device storage unit 290 (an example of a moving body data storage unit, a measurement point data storage unit, a reference point data storage unit, and a measurement area image storage unit) stores data used in the position orientation device 200.
The GNSS observation data 281, IMU measurement data 282, vehicle speed data 283, laser measurement data 284, and camera image data 285 are examples of data stored in the orientation device storage unit 290.
The measurement path data 291, the measurement point group data 292, the area coordinate value 293, and the coordinate value correction amount 294 are examples of data stored in the orientation device storage unit 290.

The GNSS observation data 281 is data obtained by the GNSS receiver 110 of the measurement vehicle 100 (see FIG. 1).
For example, the GNSS observation data 281 indicates a pseudo distance, a carrier phase, and a three-dimensional coordinate value in association with the time (observation time) when the positioning signal is received.

The IMU measurement data 282 is data obtained by the IMU 120 of the measurement vehicle 100.
For example, the IMU measurement data 282 indicates a triaxial angular velocity and a triaxial acceleration in association with the measurement time.

The vehicle speed data 283 is data obtained by odometry of the measurement vehicle 100.
For example, the vehicle speed data 283 indicates the vehicle speed of the measurement vehicle 100 in association with the measurement time.

The laser measurement data 284 is data obtained by the laser scanner 130 of the measurement vehicle 100.
For example, the laser measurement data 284 indicates the distance to the feature (measurement distance) and the laser beam emission angle (measurement angle) in association with the measurement time. The laser measurement data 284 may be a coordinate value based on the measurement distance and the measurement angle, and may indicate a two-dimensional (or three-dimensional) coordinate value with the attachment position of the laser scanner 130 as the origin.

The camera image data 285 is data obtained by the camera 140 of the measurement vehicle 100.
For example, the camera image data 285 indicates a camera image (an example of a measurement region image) captured by the camera 140 in association with the imaging time.

The measurement route data 291 (an example of moving body data) is data generated by the measurement route calculation unit 210 based on the GNSS observation data 281, IMU measurement data 282, and vehicle speed data 283. The measurement route data 291 is generated for each road periphery measurement.
The measurement path data 291 indicates a three-dimensional coordinate value and an attitude angle of the measurement vehicle 100 at each measurement time as a value in the world coordinate system. The ENU coordinate system (East-North-Up) is an example of a world coordinate system, and (latitude, longitude, altitude) is an example of coordinate values in the world coordinate system. Hereinafter, the three-dimensional coordinate value of the measurement vehicle 100 is referred to as “vehicle coordinate value”, and the three-dimensional posture angle of the measurement vehicle 100 is referred to as “vehicle posture angle”.
The measurement path data 291 further indicates a prediction error included in the coordinate value (and / or attitude angle) of the measurement vehicle 100 at each measurement time. For example, a correction amount of a Kalman filter process to be described later may be set in the measurement path data 291 as a prediction error. However, a value other than the correction amount of the Kalman filter process may be used as the prediction error. For example, a predetermined value corresponding to the number of visible satellites (GNSS satellites corresponding to positioning signals that can be received) may be used as the prediction error.

Measurement point group data 292 (an example of measurement point data and reference point data) is data generated by the measurement point group generation unit 220 based on the laser measurement data 284. The measurement point cloud data 292 is generated for each road periphery measurement.
The measurement point group data 292 indicates a three-dimensional coordinate value as a value in the world coordinate system for each point where laser light is reflected (hereinafter referred to as a measurement point). Hereinafter, the three-dimensional coordinate value of the measurement point is referred to as “measurement point coordinate value”.

The area coordinate value 293 is calculated by the position locator 240 based on the measurement point cloud data 292.
The area coordinate value 293 indicates the three-dimensional coordinate value of the landmark 194 as a value in the world coordinate system.

The coordinate value correction amount 294 is calculated by the position location unit 240 based on the region coordinate value 293 of the satellite visible environment and the region coordinate value 293 of the satellite invisible environment.
The coordinate value correction amount 294 is used for correcting the measurement path data 291 (target path data 291A described later) in the satellite invisible environment.

  The measurement route calculation unit 210 calculates a three-dimensional coordinate value and an attitude angle at each time of the measurement vehicle 100 by a predetermined navigation process based on the GNSS observation data 281, the IMU measurement data 282, and the vehicle speed data 283, and the measurement route Data 291 is generated.

  For example, the measurement route calculation unit 210 calculates a three-dimensional coordinate value and an attitude angle of each time of the measurement vehicle 100 by GPS-Gyro / IMU combined navigation (also referred to as GPS / IMU combined navigation), and obtains the measurement route data 291. Generate.

For example, the measurement route calculation unit 210 generates measurement route data 291 as follows.
The measurement path calculation unit 210 performs strapdown calculation using the three-dimensional acceleration and the three-dimensional angular velocity included in the IMU measurement data 282, and calculates the coordinate value, the posture angle, and the velocity of the measurement vehicle 100.
The measurement route calculation unit 210 performs navigation processing based on the coordinate value, pseudorange, or carrier phase included in the GNSS observation data 281 and calculates the coordinate value of the measurement vehicle 100.
The measurement path calculation unit 210 generates a baseline vector from the first GNSS receiver 110a to the second GNSS receiver 110b and a third vector from the first GNSS receiver 110a based on the coordinate values included in the GNSS observation data 281. A baseline vector to the GNSS receiver 110c is calculated. The measurement path calculation unit 210 calculates the attitude angle of the measurement vehicle 100 based on the two baseline vectors.
The measurement route calculation unit 210 calculates a difference between the coordinate value calculated by the navigation process and the coordinate value calculated by the strapdown calculation as a coordinate value residual. The measurement path calculation unit 210 calculates a difference between the posture angle calculated based on the baseline vector and the posture angle calculated by the strapdown calculation as a posture angle residual. The measurement route calculation unit 210 calculates a difference between the speed included in the vehicle speed data 283 and the speed calculated by the strapdown calculation as a speed residual.
The measurement path calculation unit 210 receives a coordinate value residual, an attitude angle residual, and a velocity residual as input and performs a predetermined Kalman filter process to calculate a coordinate value correction amount and an attitude angle correction amount. .
The measurement path calculation unit 210 corrects the coordinate value by adding the correction amount of the coordinate value to the coordinate value calculated by the strapdown calculation, and adds the correction amount of the posture angle to the posture angle calculated by the strapdown calculation. The measurement path data 291 is generated by correcting the angle and setting the corrected coordinate value and posture angle.

  However, the measurement route calculation unit 210 may generate the measurement route data 291 by calculating the coordinate value and the attitude angle at each time of the measurement vehicle 100 by an arbitrary navigation process.

  The measurement point group generation unit 220 generates measurement point group data 292 based on the measurement path data 291 and the laser measurement data 284.

The three-dimensional coordinate value of the measurement point that reflects the laser beam is calculated as the coordinate value of a point that is separated from the position of the measurement time of the laser scanner 130 by the measurement distance in the laser beam emission direction.
The position of the measurement time of the laser scanner 130 is indicated by the coordinate value of the point moved from the position of the measurement time of the measurement vehicle 100 by the coordinate value of the attachment position of the laser scanner 130.
The radiation direction of the laser light is indicated by an angle inclined from the attitude angle of the measurement vehicle 100 by the attachment angle of the laser scanner 130.
The laser external parameters in which the coordinate value of the attachment position of the laser scanner 130 and the attachment angle are set are stored in the orientation device storage unit 290 in advance.

  For example, Patent Document 2 discloses a method for generating measurement point cloud data 292.

  The user interface unit 230 includes a route point determination unit 231, a reference point data determination unit 232, and a target area determination unit 233.

The route point determination unit 231 (an example of a point designation screen display unit and a point designation input unit) selects measurement route data 291 having a prediction error larger than a predetermined error threshold among a plurality of measurement route data 291 (an example of mobile object data). It is selected as target route data 291A (an example of target mobile object data) to be corrected.
The route point determination unit 231 displays a screen including an error graph representing the prediction error of the target route data 291A as a point designation screen (route point selection screen 201 described later) based on the prediction error of the selected target route data 291A. (Point designation screen display processing).

  The route point determination unit 231 inputs a point designation for designating a specific point (route point to be described later) in the measurement route on the point designation screen from the input device (point designation input process).

  The reference point data determination unit 232 (an example of a reference mobile object data candidate selection unit, a data designation screen display unit, and a data designation input unit) is within a predetermined range from a specific point based on the point designation input by the route point determination unit 231. A plurality of measurement route data 291 including vehicle coordinate values (an example of a moving body coordinate value) of a location is selected as a reference route data candidate (an example of a reference moving body data candidate) (reference moving body data candidate selection process). .

  The reference point data determination unit 232 displays a screen representing the vehicle coordinate values and prediction errors of each of the plurality of measurement route data 291 as a data designation screen (a reference point group data selection screen 202 described later) (data designation screen display processing) ).

  For example, the reference point data determination unit 232 displays a screen including a route graph representing a measurement route of the measurement vehicle 100 (an example of a moving body) based on the plurality of measurement route data 291 as a data designation screen.

  For example, the reference point data determination unit 232 displays a data designation screen including a path graph having different colors depending on the magnitude of the measurement path prediction error.

  For example, the reference point data determination unit 232 displays the route graph of the target route data and the route graph of the reference route data candidate on the data designation screen.

  The reference point data determination unit 232 uses the measurement point group data 292 other than the target point group data 292A (an example of specific measurement point data) among the plurality of measurement point group data 292 (an example of measurement point data) as the reference point group data. Data designation designated as 292B (an example of reference point data) is inputted from the input device (data designation input processing).

  The reference point data determination unit 232 inputs data designation for designating moving body data corresponding to the reference point group data 292B on the data designation screen.

The target region determination unit 233 (an example of a region designation screen display unit and region designation input unit) displays a screen on which a plurality of measurement points are drawn based on the target point cloud data 292A as a measurement point region designation screen (a region designation screen 205 described later). ).
The target area determination unit 233 displays a screen on which a plurality of reference points are drawn based on the reference point group data 292B as a reference point area designation screen (area designation screen 205 described later) (area designation screen display processing).

For example, the target area determination unit 233 draws a plurality of measurement points on the first camera image (an example of the first measurement area image) and displays a measurement point area designation screen.
In addition, the target area determination unit 233 displays a reference point area designation screen by drawing a plurality of reference points on the second camera image (an example of the second measurement area image).

  The target area determination unit 233 inputs an area designation for designating a specific area (a target area described later) in the measurement area from the input device (area designation input process).

For example, the target region determination unit 233 inputs a first region designation that designates a portion corresponding to the specific region as a measurement point region (first target region described later) on the measurement point region designation screen.
Further, the target area determination unit 233 inputs a second area designation that designates a portion corresponding to the specific area as a reference point area (second target area described later) on the reference point area designation screen.

  The position location unit 240 includes an area coordinate value calculation unit 241 and a position correction unit 242.

The area coordinate value calculation unit 241 (an example of the area coordinate value calculation unit) determines the coordinate value of the specific point in the specific area based on the area designation input by the target area determination unit 233 and the target point cloud data 292A as the first area. The coordinate value is calculated as 293.
The region coordinate value calculation unit 241 calculates the coordinate value of the specific point of the specific region as the second region coordinate value 293 based on the region designation input by the target region determination unit 233 and the reference point group data 292B (region coordinate) Value calculation processing).

For example, the region coordinate value calculation unit 241 calculates the first region coordinate value 293 based on the measurement point coordinate values of the plurality of measurement points in the specific region among the measurement point coordinate values included in the target point group data 292A. .
Further, the area coordinate value calculation unit 241 selects the second area based on the reference point coordinate values of the plurality of reference points in the specific area among the reference point coordinate values (measurement point coordinate values) included in the reference point group data 292B. A coordinate value 293 is calculated.

  For example, the area coordinate value calculation unit 241 calculates the first area coordinate value 293 and the second area coordinate value 293 as the coordinate value of the center point of the specific area.

For example, the area coordinate value calculation unit 241 determines the coordinate value of the cross-sectional center of the specific three-dimensional object as the first area coordinates based on a plurality of measurement point coordinate values obtained by measuring the surface of the specific three-dimensional object (landmark 194). Calculated as value 293.
The area coordinate value calculation unit 241 calculates the coordinate value of the cross-sectional center of the specific three-dimensional object as the second area coordinate value 293 based on the plurality of reference point coordinate values obtained by measuring the surface of the specific three-dimensional object.

For example, the region coordinate value calculation unit 241 calculates a two-dimensional coordinate value excluding the height from the coordinate value of the cross-sectional center of a specific three-dimensional object as a two-dimensional coordinate value included in the first region coordinate value 293. .
The area coordinate value calculation unit 241 determines the height of the ground at the point where the specific three-dimensional object is located based on the remaining measurement point coordinate values excluding the measurement point coordinate values of the specific three-dimensional object. It is calculated as a coordinate value of the height included in the value 293.

For example, the area coordinate value calculation unit 241 calculates the first area coordinate value 293 based on the measurement point coordinate values of each of the plurality of measurement points drawn in the measurement point area designated by the first area designation.
Further, the area coordinate value calculation unit 241 calculates the second area coordinate value 293 based on the reference point coordinate values of each of the plurality of reference points drawn in the reference point area designated by the second area designation.

For example, the area coordinate value calculation unit 241 calculates the first area coordinate value 293 based on the target point cloud data 292A.
Further, the region coordinate value calculation unit 241 calculates the second region coordinate value 293 based on the reference point group data 292B.

The position correction unit 242 (an example of a correction data generation unit and a moving body data correction unit) coordinates the difference between the first region coordinate value 293 and the second region coordinate value 293 calculated by the region coordinate value calculation unit 241. Calculated as a value correction amount 294 (an example of a coordinate value error).
The position correction unit 242 corrects the vehicle coordinate values included in the measurement route data 291 based on the calculated coordinate value correction amount 294 (moving body data correction process).

However, the position locating device 200 described in the first embodiment may be configured using a plurality of devices instead of a single device.
For example, the position correction unit 242 generates correction data including the coordinate value correction amount 294, and transmits the generated correction data to a predetermined correction device. The correction device receives the correction data from the position locating device 200 and corrects the vehicle coordinate value included in the measurement route data 291 based on the coordinate value correction amount 294 included in the received correction data. In this case, the correction device stores the measurement path data 291 and other necessary data in the storage unit in advance or receives from the position locating device 200.

FIG. 4 is a flowchart showing a position locating method of position locating apparatus 200 in the first embodiment.
A position locating method (an example of a position correction data generation method and a position locating method) of position locating apparatus 200 according to Embodiment 1 will be described with reference to FIG.

  First, an outline of the position location method will be described.

The route point determination unit 231 determines the target route data 291A and displays the route point selection screen 201 (S110).
The reference point data determination unit 232 displays the reference point group data selection screen 202 and determines the reference point group data 292B (S120).
The target area determination unit 233 displays the area specification screen 205 of the target point group 292a and determines the target area 205a (S130).
The area coordinate value calculation unit 241 calculates the coordinate value (first area coordinate value 293) of the target area 205a based on the target point cloud data 292A (S140).
The target area determination unit 233 displays the area designation screen 205 of the reference point group 292b and determines the target area 205a (S150).
The area coordinate value calculation unit 241 calculates the coordinate value (second area coordinate value 293) of the target area 205a based on the reference point group data 292B (S160).
The position correction unit 242 calculates a coordinate value correction amount 294 based on the first region coordinate value 293 and the second region coordinate value 293 (S170).
The position correction unit 242 corrects the vehicle coordinate value of the target route data 291A based on the coordinate value correction amount 294 (S180).

  Next, details of the position location method will be described.

In S110, the route point determination unit 231 determines measurement route data 291 having a prediction error larger than a predetermined error threshold among the plurality of measurement route data 291 stored in the orientation device storage unit 290.
Hereinafter, the measured route data 291 determined in S110 is referred to as “target route data 291A”.
In addition, a measurement route of the measurement vehicle 100 represented by a plurality of vehicle coordinate values included in the target route data 291A is referred to as a “target route”.
Further, the measurement point cloud data 292 of the target route is referred to as “target point cloud data 292A”, and the camera image data 285 of the target route is referred to as “target image data 285A”.

For example, the route point determination unit 231 calculates the average value of the prediction errors as the prediction error of the measurement route data 291 based on the prediction error of each of the plurality of measurement points for each measurement route data 291, and predicts each measurement route data 291. The target route data 291A is determined by comparing the error with an error threshold.
Further, the route point determination unit 231 calculates the number of measurement points whose prediction error is larger than the error threshold for each measurement route data 291, and targets the measurement route data 291 whose calculated number of measurement points is equal to or greater than a predetermined number threshold. It may be determined as route data 291A.

Next, the route point determination unit 231 generates a graph representing a prediction error of each of the plurality of vehicle coordinate values included in the target route data 291A, and displays a screen including the generated graph.
Hereinafter, a graph representing a prediction error is referred to as an “error graph 201a”, and a screen including the error graph 201a is referred to as a “route point selection screen 201”.

FIG. 5 is a diagram showing a route point selection screen 201 and a reference point group data selection screen 202 in the first embodiment.
The route point selection screen 201 in the first embodiment will be described with reference to FIG.

The route point selection screen 201 shows an error graph 201a of the target route data 291A.
The error graph 201a represents the prediction error of the vehicle coordinate value in association with the time. The horizontal axis is the time axis, and the vertical axis is the axis representing the prediction error of the vehicle coordinate value.

The error graph 201a may change the color according to the magnitude of the prediction error. Further, the thickness and type of the line may be changed.
For example, a portion having a prediction error of 3 cm (centimeter) or less is represented by a “green” line.
In addition, a portion having a prediction error of 5 cm or less (excluding a portion of 3 cm or less) is represented by a “blue” line, a portion having a prediction error of 25 cm or less (excluding a portion of 5 cm or less) is represented by a “yellow” line, The portion where the prediction error is larger than 25 cm is represented by a “red” line.

The user designates a specific part of the error graph 201a using an input device (for example, a keyboard or a mouse) of the position locating device 200.
For example, the user operates the mouse and designates a specific part of the error graph 201a with the mouse cursor 931. The part designated by the user is indicated by a circle.

  Returning to FIG. 4, the description of S110 will be continued.

The route point determination unit 231 acquires a vehicle coordinate value corresponding to the time of a specific portion designated by the user from the error graph 201a.
Hereinafter, the point indicated by the vehicle coordinate value corresponding to the specified specific portion, which is the vehicle coordinate value acquired from the error graph 201a, is referred to as “target route point”.

  It progresses to S120 after S110.

In S120, the reference point data determination unit 232 is a vehicle coordinate value of a point located within a predetermined range from the target route point determined in S110 among the plurality of measurement route data 291 stored in the orientation device storage unit 290. A plurality of measurement path data 291 including is determined. However, the target route data 291A is excluded.
Hereinafter, the measured route data 291 determined in S120 is referred to as “reference route data candidate”.

  For example, the reference point data determination unit 232 compares a plurality of vehicle coordinate values and vehicle coordinate values of the target route point for each measured route data 291 excluding the target route data 291A. The reference point data determination unit 232 determines, as a reference route data candidate, measurement route data 291 including vehicle coordinate values whose distance from the vehicle coordinate value of the target route point is equal to or less than a predetermined distance threshold.

The reference point data determination unit 232 extracts the vehicle coordinate values of a plurality of points located within a predetermined range from the target route point among the plurality of vehicle coordinate values included in the target route data 291A, and extracts the plurality of extracted vehicle coordinates A route graph representing the measurement route (target route) of the measurement vehicle 100 is generated based on the value. Hereinafter, the route graph based on the target route data 291A is referred to as “target route graph 202a”.
The reference point data determination unit 232 extracts, for each reference route data candidate, a vehicle coordinate value of each of a plurality of points located within a predetermined range from the target route point among a plurality of vehicle coordinate values included in the reference route data candidate, A route graph representing the measurement route (reference route candidate) of the measurement vehicle 100 is generated based on the extracted plurality of vehicle coordinate values. Hereinafter, the route graph based on the reference route data candidate is referred to as “reference route candidate graph 202b”.

The reference point data determination unit 232 displays a screen including the target route graph 202a and a plurality of reference route candidate graphs 202b.
Hereinafter, a screen including the target route graph 202a and a plurality of reference route candidate graphs 202b is referred to as a “reference point cloud data selection screen 202”.

FIG. 5 shows an example of the reference point cloud data selection screen 202.
In FIG. 5, the reference point cloud data selection screen 202 shows the target route graph 202a and a plurality of reference route candidate graphs 202b in two dimensions (excluding the height). For example, the horizontal axis is a coordinate axis (x axis) representing the traveling direction or east direction of the measuring vehicle 100, and the vertical axis is a coordinate axis (y axis) representing the right direction or the north direction with respect to the traveling direction.

  The target route graph 202a indicates notation (circle) indicating an imaging point where a camera image is captured, in addition to a solid line indicating the target route.

The plurality of reference route candidate graphs 202b indicate dotted lines that represent reference route candidates and have different thicknesses depending on the prediction error. The thicker the dotted line, the smaller the prediction error.
However, like the error graph 201a on the route point selection screen 201, the color of the reference route candidate graph 202b may be changed according to the prediction error. Further, the reference route candidate graph 202b may be a solid line like the target route graph 202a.

The user selects one of the reference route candidate graphs 202b using the input device of the position locating device 200. The reference point data determination unit 232 inputs designation data for designating the selected reference route candidate graph 202b from the input device.
For example, the user selects the reference path candidate graph 202b-1 having the smallest prediction error with the mouse cursor 931.

When the user selects the reference route candidate graph 202b, the reference point data determination unit 232 may display information on the reference route candidate graph 202b.
For example, the reference point data determination unit 232 may pop-up information such as the altitude of the point indicated by the mouse cursor 931, the altitude difference from the target route point, the distance from the target route point, and the prediction error.

Further, the user selects any imaging point on the target route graph 202a.
For example, the user uses the mouse cursor 931 to select an imaging point where the target route graph 202a and the reference route candidate graph 202b intersect.

Hereinafter, the reference route data candidate corresponding to the selected reference route candidate graph 202b is referred to as “reference route data 291B”.
Further, a measurement route of the measurement vehicle 100 represented by a plurality of vehicle coordinate values included in the reference route data 291B is referred to as a “reference route”.
Further, the measurement point cloud data 292 for the reference path is referred to as “reference point cloud data 292B”, and the camera image data 285 for the reference path is referred to as “reference image data 285B”.

  Hereinafter, the selected imaging point is referred to as “target imaging point”.

  Returning to FIG. 4, the description of S120 will be continued.

The reference point data determination unit 232 acquires a predetermined number of captured camera images from the camera image data 285 of the target route (target image data 285A) before and after the imaging time of the target imaging point.
Hereinafter, the camera image acquired from the target image data 285A is referred to as “target image candidate 203a”.

The reference point data determination unit 232 acquires a predetermined number of camera images captured within a predetermined range from the target imaging point from the camera image data 285 (reference image data 285B) of the reference path.
Hereinafter, the camera image acquired from the reference image data 285B is referred to as “reference image candidate 203b”.

The reference point data determination unit 232 displays a screen including the target image candidate 203a and the reference image candidate 203b.
Hereinafter, a screen including the target image candidate 203a and the reference image candidate 203b is referred to as a “camera image selection screen 203”.

FIG. 6 is a diagram showing a camera image selection screen 203 in the first embodiment.
The camera image selection screen 203 in the first embodiment will be described with reference to FIG.

  The camera image selection screen 203 shows five target image candidates 203a and five reference image candidates 203b at the top.

The user selects the target image candidate 203a and the reference image candidate 203b one by one using the input device of the position locating device 200. The reference point data determination unit 232 inputs designation data for designating the selected target image candidate 203a and designation data for designating the selected reference image candidate 203b from the input device.
For example, the user uses the mouse cursor 931 to select the target image candidate 203a-4 and the reference image candidate 203b-4 in which the features (for example, signs and guardrail pillars) that are desired to be landmarks appear to be largely the same. .

The reference point data determination unit 232 displays the selected target image candidate 203a and reference image candidate 203b in the lower part of the camera image selection screen 203.
Hereinafter, the selected target image candidate 203a is referred to as “target image 285a”, and the selected reference image candidate 203b is referred to as “reference image 285b”.

  Returning to FIG. 4, the description of S120 will be continued.

The reference point data determination unit 232 extracts a plurality of measurement point coordinate values corresponding to a measurement time within a predetermined time range from the imaging time of the target image 285a among a plurality of measurement point coordinate values included in the target point cloud data 292A. To do.
Hereinafter, the plurality of measurement points corresponding to the plurality of measurement point coordinate values extracted from the target point group data 292A are referred to as “target point group 292a (or extraction target point group)”.

The reference point data determination unit 232 extracts a plurality of measurement point coordinate values corresponding to measurement times within a predetermined time range from the imaging time of the reference image 285b among the plurality of measurement point coordinate values included in the reference point group data 292B. To do.
Hereinafter, the plurality of measurement points corresponding to the plurality of measurement point coordinate values extracted from the reference point group data 292B are referred to as “reference point group 292b (or extracted reference point group)”.

The reference point data determination unit 232 displays a screen including a point group image 204a in which the target point group 292a and the reference point group 292b are drawn.
Hereinafter, a screen including a point cloud image in which the target point cloud 292a and the reference point cloud 292b are drawn is referred to as a “measurement point cloud confirmation screen 204”.

FIG. 7 is a diagram showing a measurement point group confirmation screen 204 in the first embodiment.
The measurement point group confirmation screen 204 in the first embodiment will be described with reference to FIG.

The measurement point group confirmation screen 204 shows the target image 285a and the reference image 285b on the left side of the screen, and the point group image 204a on the right side of the screen.
The point cloud image 204a includes a point cloud image in which the target point cloud 292a is plotted on a two-dimensional plane based on a plurality of measurement point coordinate values included in the target cloud data 292A, and a plurality of point cloud images included in the reference point cloud data 292B. It is an image obtained by superimposing a point cloud image in which a reference point cloud 292b is plotted on a two-dimensional plane based on measurement point coordinate values.
As shown in the point group image 204a in FIG. 7, the target point group 292a and the reference point group 292b are drawn shifted from front to back and from side to side due to errors in the measurement point coordinate values.
The target point group 292a and the reference point group 292b may be drawn with different colors (red, green, etc.) and notation (circle, triangle, etc.).

The user compares the target image 285a, the reference image 285b, and the point cloud image 204a, and has obtained a sufficient number of target point cloud 292a and reference point cloud 292b for the feature to be a landmark. Confirm.
When a sufficient number of target point groups 292a and reference point groups 292b are not obtained, the user can select a route point selection screen 201 (see FIG. 5), a reference point group data selection screen 202 (see FIG. 6) or a camera. The image selection screen 203 (see FIG. 7) is switched. Then, the user respecifies the target route point, the reference route, the target imaging point, the target image 285a, the reference image 285b, or other matters.
For example, the user switches the screen by selecting the upper left tab of each screen with the mouse cursor 931.

  Returning to FIG. 4, the description of the position location method is continued from S130.

In S130, the target area determination unit 233 projects the target point group 292a onto the target image 285a based on the plurality of measurement point coordinate values included in the target point group data 292A, and the target image 285a obtained by projecting the target point group 292a. Display the included screen.
Hereinafter, the target image 285a obtained by projecting the target point group 292a is referred to as a “point group projected image 205A” of the target point group 292a, and a screen including the point group projected image of the target point group 292a is referred to as “region designation” of the target point group 292a. Screen 205 ".

The user determines the feature to be the landmark 194 among the features shown on the area designation screen 205 of the target point group 292a.
The user designates a specific portion of the landmark 194 as the “target area 205a” using the input device of the position locating device 200. The target area determination unit 233 inputs designation data for designating the target area 205a from the input device.

  It progresses to S140 after S130.

FIG. 8 is a diagram illustrating a method of generating the point cloud projection image 205A in the first embodiment.
A method of generating the point cloud projection image 205A in Embodiment 1 will be described with reference to FIG.

The target area determination unit 233 calculates a LOS vector (LOS: Line of Light) indicating the direction from the camera 140 that captured the target image 285a to the measurement point for each measurement point (target point) of the target point group 292a.
The coordinate value of the camera 140 is determined by the vehicle coordinate value corresponding to the imaging time of the target image 285a and the coordinate value (Δx, Δy, Δz) of the attachment position of the camera 140 with respect to the measurement vehicle 100. That is, the coordinate value of the camera 140 is the coordinate value of the point moved by (Δx, Δy, Δz) from the vehicle coordinate value.
The coordinate value of the measurement point (measurement point coordinate value) is included in the target point group data 292A.

The target area determination unit 233 calculates the coordinate value of the intersection of the LOS vector and the image plane as a pixel coordinate value (u, v) for each measurement point.
The image plane is a plane that represents the imaging range of the camera 140 and is a plane that is separated from the imaging center of the camera 140 by the focal length f in the direction of the mounting angle of the camera 140.

  The target area determination unit 233 draws the measurement points on the pixels of the target image 285a specified by the pixel coordinate values (u, v) for each measurement point.

  The camera external parameters in which the coordinate value of the attachment position of the camera 140 and the attachment angle are set are stored in advance in the orientation device storage unit 290.

FIG. 9 is a partially enlarged view of the area designation screen 205 in the first embodiment.
A method for specifying the target area 205a in the first embodiment will be described with reference to FIG.

  For example, the user selects a bar-shaped three-dimensional object such as a traffic light, a sign, or a guardrail column as the landmark 194, and designates a specific portion of the selected landmark 194 as the target area 205a with the mouse cursor 931.

  Returning to FIG. 4, the description of the position location method is continued from S140.

In S140, the area coordinate value calculation unit 241 extracts the vehicle coordinate values of the target point group 292a included in the target area 205a specified in S130 from the target point group data 292A.
Hereinafter, the target point group 292a included in the target region 205a is referred to as “target region point group 205b”.

The area coordinate value calculation unit 241 calculates the coordinate value of the target area 205a based on the vehicle coordinate values of the target area point group 205b.
Hereinafter, the coordinate value of the target area 205a calculated in S140 is referred to as “first area coordinate value 293”.
After S140, the process proceeds to S150.

FIG. 10 is a diagram illustrating an example of a method for calculating region coordinate values 293 (coordinate values excluding height) in the first embodiment.
An example of a method for calculating the two-dimensional region coordinate value 293 excluding the height will be described with reference to FIG.

The target area point group 205 b is a point group obtained by measuring the surface of the landmark 194.
Therefore, the cross-sectional shape of the landmark 194 can be obtained based on the measurement point coordinate values of the target area point group 205b.
The area coordinate value calculation unit 241 calculates the coordinate value of the center point O of the cross section of the landmark 194 as a two-dimensional area coordinate value 293.

  For example, the region coordinate value calculation unit 241 uses the Taubin method disclosed in Non-Patent Document 3 to calculate the cross-sectional shape (circle or ellipse) of the cylindrical landmark 194 by curve fitting processing (also referred to as circle fitting processing). calculate. However, a method other than the Taubin method may be used.

FIG. 11 is a diagram illustrating an example of a method of calculating the region coordinate value 293 (height coordinate value) in the first embodiment.
An example of a method for calculating the height of the region coordinate value 293 will be described with reference to FIG.

The area coordinate value calculation unit 241 extracts, from the target point group data 292A, measurement point coordinate values of target points that are close to the center point O of the cross section of the landmark 194 among the plurality of target points that constitute the target point group 292a. However, the target points included in the target area point group 205b are excluded.
The area coordinate value calculation unit 241 calculates the height of the area coordinate value 293 based on the measurement point coordinate value of the extracted target point.

For example, the area coordinate value calculation unit 241 compares the coordinate value of the center point O of the landmark 194 and the measurement point coordinate value of the target point group 292a with a two-dimensional coordinate value excluding the height, and the center of the landmark 194 Measurement point coordinate values of three target points (outlined circles in the figure) are acquired in order of increasing distance from the point O.
Next, the area coordinate value calculation unit 241 generates a plane P including the three target points based on the measurement point coordinate values (three-dimensional coordinate values including the height) of the three target points. However, the plane P may be generated based on two target points or four or more target points. The plane P represents the ground surface where the landmark 194 is located.
Then, the area coordinate value calculation unit 241 calculates the coordinate value of the intersection I between the generated plane P and the perpendicular L including the center point O of the landmark 194 as a three-dimensional area coordinate value 293 including the height.

Returning to FIG. 4, the description of the position location method will be continued.
As described above, S130 and S140 are processes for calculating the coordinate value (first region coordinate value 293) of the target region 205a for the target point group 292a.
S150 and S160 described below are processes for calculating the coordinate value (second region coordinate value 293) of the target region 205a for the reference point group 292b.

In S150, the target area determination unit 233 generates the point group projection image 205A by projecting the reference point group 292b onto the reference image 285b based on the reference point group data 292B, and an area including the generated point group projection image 205A. The designation screen 205 is displayed (similar to S130).
The user designates a specific portion of the landmark 194 as the target area 205a on the area designation screen 205 of the reference point group 292b. At this time, the user designates a specific portion of the landmark 194 corresponding to the target area 205a designated in S130.
The target area determination unit 233 inputs designation data for designating the target area 205a.
After S150, the process proceeds to S160.

In S160, the area coordinate value calculation unit 241 extracts the vehicle coordinate values of the reference point group 292b included in the target area 205a specified in S150 from the reference point group data 292B, and the second based on the extracted vehicle coordinate values. Is calculated (similar to S140).
After S160, the process proceeds to S170.

In S170, the position correction unit 242 calculates the coordinate value correction amount 294 based on the first region coordinate value 293 calculated in S140 and the second region coordinate value 293 calculated in S160.
For example, the position correction unit 242 calculates an error between the first region coordinate value 293 and the second region coordinate value 293 as the coordinate value correction amount 294.
After S170, the process proceeds to S180.

  In S180, the position correction unit 242 corrects the plurality of vehicle coordinate values included in the target route data 291A based on the coordinate value correction amount 294.

For example, the position correction unit 242 corrects the vehicle coordinate value of the target point group 292a by adding the coordinate value correction amount 294 to the vehicle coordinate value of the target point group 292a.
Further, the position correction unit 242 performs strapdown calculation using the corrected vehicle coordinate values of the target point group 292a and the IMU measurement data 282 of the target route, and updates the remaining vehicle coordinate values.
Thereby, it is possible to obtain measurement route data 291 (corrected target route data 291A) obtained by measuring the target route in the satellite invisible environment with high accuracy.
By S180, the position location method ends.

The measurement point cloud generation unit 220 newly generates measurement point cloud data 292 for the target route using the measurement route data 291 obtained in S180.
Thereby, the measurement point cloud data 292 measured by the target route in the satellite invisible environment can be obtained with high accuracy. In addition, the measurement point cloud data 292 with high accuracy can be used as a three-dimensional model representing features around the road.

FIG. 12 is a diagram illustrating an example of hardware resources of the position location apparatus 200 according to the first embodiment.
In FIG. 12, the position locating device 200 includes a CPU 901 (Central Processing Unit). The CPU 901 is connected to hardware devices such as a ROM 903, a RAM 904, a communication board 905, a display device 911, a keyboard 912, a mouse 913, a drive device 914, and a magnetic disk device 920 via a bus 902, and controls these hardware devices. To do. The drive device 914 is a device that reads and writes a storage medium such as an FD (Flexible Disk Drive), a CD (Compact Disc), and a DVD (Digital Versatile Disc).
The ROM 903, the RAM 904, the magnetic disk device 920, and the drive device 914 are examples of storage devices. A keyboard 912 and a mouse 913 are examples of input devices. The display device 911 is an example of an output device.

  The communication board 905 is wired or wirelessly connected to a communication network such as a LAN (Local Area Network), the Internet, or a telephone line.

  The magnetic disk device 920 stores an OS 921 (operating system), a program group 922, and a file group 923.

  The program group 922 includes programs that execute the functions described as “units” in the embodiments. A program (for example, a position correction data generation program, a position location program, a user interface program) is read and executed by the CPU 901. That is, the program causes the computer to function as “to part”, and causes the computer to execute the procedures and methods of “to part”.

  The file group 923 includes various data (input, output, determination result, calculation result, processing result, etc.) used in “˜part” described in the embodiment.

  In the embodiment, arrows included in the configuration diagrams and flowcharts mainly indicate input and output of data and signals.

  In the embodiment, what is described as “to part” may be “to circuit”, “to apparatus”, and “to device”, and “to step”, “to procedure”, and “to processing”. May be. That is, what is described as “to part” may be implemented by any of firmware, software, hardware, or a combination thereof.

In the embodiment, when one point (or one measurement point) of the landmark 194 is designated, it is difficult to designate one point at the same location for the target image 285a and the reference image 285b. This is because the target image 285a and the reference image 285b are not the same image and need to be manually specified by the user.
In this case, since the designated location for the target image 285a and the designated location for the reference image 285b are shifted, it is not possible to calculate the accurate coordinate value correction amount 294 and correct the target route data 291A with high accuracy.

On the other hand, by specifying the target area 205a for the landmark 194 as in the embodiment (see FIG. 9), the target route data 291A can be corrected with high accuracy.
By comparing the area coordinate value 293 of a specific point (for example, the center point) based on the measurement point group of the target area 205a between the target image 285a and the reference image 285b, an accurate coordinate value correction amount 294 can be calculated. It is.

An example of the target area 205a of the landmark 194 that can be used in the embodiment is shown below. Here, “x” is the traveling direction of the measuring vehicle 100, “y” is the right direction with respect to the traveling direction, and “z” is the height direction.
(1) It is possible to correct the vehicle coordinate values in three dimensions (x, y, z) by making pole portions such as electric poles, traffic lights, signs, guide plates, guard rails, etc. into the target area 205a (FIG. 4). S170-S180).
However, when the ground height cannot be calculated as shown in FIG. 11 (when the measurement point group of the ground portion is not obtained), two-dimensional (x, y) correction excluding the height z is possible. It is.
(2) Three-dimensional correction is possible by setting the corner (vertex) of the building to the target area 205a. For example, the coordinate value of the vertex portion (the corner of the building) represented by the measurement point group of the target region 205a is used as the region coordinate value 293.
(3) Two-dimensional (x, y) correction is possible by setting the corners (vertical edges) of buildings and viaduct legs to the target region 205a. For example, the two-dimensional (x, y) center (or average) coordinate value of the measurement point group of the target region 205 a is used as the region coordinate value 293.
(4) One-dimensional (y) correction is possible by setting the wall surface on the roadway side of the building or viaduct leg to the target area 205a. For example, a one-dimensional (y) center (or average) coordinate value of the measurement point group of the target region 205 a is used as the region coordinate value 293.
(5) Two-dimensional (x, y) correction is possible by setting the signal control BOX and post as the target area 205a. For example, the two-dimensional (x, y) center (or average) coordinate value of the measurement point group of the target region 205 a is used as the region coordinate value 293.
(6) One-dimensional (x) correction is possible by making the surface of the sign or guide plate the target area 205a. For example, a one-dimensional (x) center (or average) coordinate value of the measurement point group of the target region 205 a is used as the region coordinate value 293.
(7) One-dimensional (z) correction is possible by setting the pedestrian bridge as the target region 205a. For example, a one-dimensional (z) center (or average) coordinate value of the measurement point group of the target region 205 a is used as the region coordinate value 293.

  100 measurement vehicle, 101 top plate, 110 GNSS receiver, 120 IMU, 130 laser scanner, 140 camera, 191 GNSS satellite, 192 general road, 193 highway, 194 landmark, 200 position locator, 201 route point selection screen, 201a Error graph, 202 Reference point cloud data selection screen, 202a Target route graph, 202b Reference route candidate graph, 203 Camera image selection screen, 203a Target image candidate, 203b Reference image candidate 203b, 204 Measurement point cloud confirmation screen, 204a Point cloud Image, 205 area designation screen, 205A point cloud projection image, 205a target area, 205b target area point cloud, 210 measurement path calculation section, 220 measurement point cloud generation section, 230 user interface section, 231 path point determination section, 232 reference point Data determination unit, 233 target region determination unit, 240 position determination unit, 241 region coordinate value calculation unit, 242 position correction unit, 281 GNSS observation data, 282 IMU measurement data, 283 vehicle speed data, 284 laser measurement data, 285 camera image Data, 285A target image data, 285B reference image data, 285a target image, 285b reference image, 290 orientation device storage unit, 291 measurement path data, 291A target path data, 291B reference path data, 292 measurement point group data, 292A target point Group data, 292B reference point group data, 292a target point group, 292b reference point group, 293 area coordinate value, 294 coordinate value correction amount, 901 CPU, 902 bus, 903 ROM, 904 RAM, 905 communication board, 911 display device 912 keyboard, 913 mouse, 914 drive, 920 a magnetic disk device, 921 OS, 922 programs, 923 files, 931 mouse cursor.

Claims (15)

A moving body data storage unit for storing moving body data including the coordinate value of the moving body equipped with the measuring device as the moving body coordinate value;
A measurement point data storage unit that stores measurement point data that is a coordinate value measured using the moving body and includes the coordinate values of a plurality of measurement points in the measurement region as measurement point coordinate values;
A reference point data storage unit that stores, as reference point data, data including coordinate values of a plurality of points in the measurement region as reference point coordinate values of reference points;
An area designation input unit for inputting an area designation for designating a specific area in the measurement area from an input device;
Based on the region designation input by the region designation input unit and the measurement point data stored in the measurement point data storage unit, a coordinate value of a specific point of the specific region is calculated as a first region coordinate value, and the region Area coordinate value calculation that calculates the coordinate value of the specific point of the specific area as a second area coordinate value based on the area designation input by the designation input unit and the reference point data stored in the reference point data storage unit And
The difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit is calculated as a coordinate value error, and data including the calculated coordinate value error is included in the mobile object data a correction data generation unit for generating a correction data used for correction of the moving body coordinate values,
An area that displays a screen on which a plurality of measurement points are drawn based on the measurement point data as a measurement point area designation screen, and a screen on which a plurality of reference points is drawn based on the reference point data is displayed as a reference point area designation screen and a designation screen display unit,
The area designation input unit includes a first area designation for designating a part corresponding to the specific area as a measurement point area with respect to the measurement point area designation screen displayed by the area designation screen display unit, and the area designation screen. Input a second region designation that designates a portion corresponding to the specific region as a reference point region on the reference point region designation screen displayed by the display unit,
The region coordinate value calculation unit extracts, from the measurement point data , measurement point coordinate values of a plurality of measurement points drawn in the measurement point region designated by the first region designation, and extracts from the measurement point data were each calculate the first region coordinate values based on the measurement point coordinate values, said plurality of respective reference points reference point coordinate value which has been written into the reference point area specified by said second region designated A position correction data generating apparatus, wherein the second area coordinate value is calculated based on each reference point coordinate value extracted from reference point data and extracted from the reference point data . Each measurement point coordinate value extracted from the measurement point data by the region coordinate value calculation unit is a measurement point coordinate value obtained by measuring the surface of a specific three-dimensional object,
Each reference point coordinate value extracted from the reference point data by the region coordinate value calculation unit is a reference point coordinate value obtained by measuring the surface of the specific three-dimensional object,
The region coordinate value calculation unit obtains a two-dimensional coordinate value obtained by removing a height from the coordinate values of the cross-sectional center of the specific three-dimensional object based on each measurement point coordinate value extracted from the measurement point data . It is calculated as a two-dimensional coordinate value included in one area coordinate value, and three measurement point coordinate values from the remaining measurement point coordinate values not extracted from the measurement point data are included in the first area coordinate value. Based on the dimensional coordinate value, the coordinate value of the intersection of the plane including the three measured measurement point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the first region coordinate value is the first region. Calculated as a coordinate value of the height included in the coordinate value , based on each reference point coordinate value extracted from the reference point data, two-dimensional excluding the height from the coordinate value of the cross-sectional center of the specific three-dimensional object Is included in the second region coordinate value Calculating as a dimensional coordinate value, extracting three reference point coordinate values from the remaining reference point coordinate values not extracted from the reference point data based on the two-dimensional coordinate values included in the second region coordinate values; The coordinate value of the height included in the second area coordinate value is the coordinate value of the intersection of the extracted plane including the three reference point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the second area coordinate value. The position correction data generation device according to claim 1 , wherein the position correction data generation device is calculated as a value . The position correction data generation device further includes:
A measurement area image storage unit that stores a first measurement area image and a second measurement area image obtained by imaging the measurement area;
The area designation screen display unit draws a plurality of measurement points on the first measurement area image to display the measurement point area designation screen, and overlaps the second measurement area image with a plurality of reference points. The position correction data generation apparatus according to claim 1 or 2, wherein the reference point area designation screen is displayed by drawing the reference point area. The measurement point data storage unit stores a plurality of measurement point data,
The position correction data generation device further includes:
A data designation input unit for inputting data designation for designating measurement point data other than specific measurement point data as reference point data from a plurality of measurement point data from an input device,
The area coordinate value calculation unit calculates the first area coordinate value based on the specific measurement point data, and calculates the second area coordinate value based on reference point data designated by the data designation. position correction data generating apparatus according to any claims 1 to 3, characterized in that. The mobile object data storage unit stores a plurality of mobile object data including prediction errors of mobile object coordinate values,
The measurement point data storage unit stores a plurality of measurement point data in association with a plurality of moving body data,
The position correction data generation device further includes:
A data designation screen display unit that displays a screen representing a moving body coordinate value and a prediction error of each of a plurality of moving body data as a data designation screen,
5. The position correction data generation apparatus according to claim 4, wherein the data designation input unit inputs data designation for designating moving body data corresponding to reference point data on the data designation screen. A moving body data storage unit for storing moving body data including the coordinate value of the moving body equipped with the measuring device as the moving body coordinate value;
A measurement point data storage unit that stores measurement point data that is a coordinate value measured using the moving body and includes the coordinate values of a plurality of measurement points in the measurement region as measurement point coordinate values;
A reference point data storage unit that stores, as reference point data, data including coordinate values of a plurality of points in the measurement region as reference point coordinate values of reference points;
An area designation input unit for inputting an area designation for designating a specific area in the measurement area from an input device;
Based on the region designation input by the region designation input unit and the measurement point data stored in the measurement point data storage unit, a coordinate value of a specific point of the specific region is calculated as a first region coordinate value, and the region Area coordinate value calculation that calculates the coordinate value of the specific point of the specific area as a second area coordinate value based on the area designation input by the designation input unit and the reference point data stored in the reference point data storage unit And
The difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit is calculated as a coordinate value error, and the movement included in the moving body data based on the calculated coordinate value error A moving body data correction unit for correcting body coordinate values ;
An area that displays a screen on which a plurality of measurement points are drawn based on the measurement point data as a measurement point area designation screen, and a screen on which a plurality of reference points is drawn based on the reference point data is displayed as a reference point area designation screen With a designated screen display,
The area designation input unit includes a first area designation for designating a part corresponding to the specific area as a measurement point area with respect to the measurement point area designation screen displayed by the area designation screen display unit, and the area designation screen. Input a second region designation that designates a portion corresponding to the specific region as a reference point region on the reference point region designation screen displayed by the display unit,
The region coordinate value calculation unit extracts, from the measurement point data, measurement point coordinate values of a plurality of measurement points drawn in the measurement point region designated by the first region designation, and extracts from the measurement point data The first region coordinate value is calculated based on each measured point coordinate value, and the reference point coordinate value of each of the plurality of reference points drawn in the reference point region designated by the second region designation is The position locating apparatus, wherein the second area coordinate value is calculated based on each reference point coordinate value extracted from the reference point data and extracted from the reference point data . Each measurement point coordinate value extracted from the measurement point data by the region coordinate value calculation unit is a measurement point coordinate value obtained by measuring the surface of a specific three-dimensional object,
  Each reference point coordinate value extracted from the reference point data by the region coordinate value calculation unit is a reference point coordinate value obtained by measuring the surface of the specific three-dimensional object,
The region coordinate value calculation unit obtains a two-dimensional coordinate value obtained by removing a height from the coordinate values of the cross-sectional center of the specific three-dimensional object based on each measurement point coordinate value extracted from the measurement point data. It is calculated as a two-dimensional coordinate value included in one area coordinate value, and three measurement point coordinate values from the remaining measurement point coordinate values not extracted from the measurement point data are included in the first area coordinate value. Based on the dimensional coordinate value, the coordinate value of the intersection of the plane including the three measured measurement point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the first region coordinate value is the first region. Calculated as a coordinate value of the height included in the coordinate value, based on each reference point coordinate value extracted from the reference point data, two-dimensional excluding the height from the coordinate value of the cross-sectional center of the specific three-dimensional object Is included in the second region coordinate value Calculating as a dimensional coordinate value, extracting three reference point coordinate values from the remaining reference point coordinate values not extracted from the reference point data based on the two-dimensional coordinate values included in the second region coordinate values; The coordinate value of the height included in the second area coordinate value is the coordinate value of the intersection of the extracted plane including the three reference point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the second area coordinate value. Calculate as a value
The position locating device according to claim 6. A moving body data storage unit that stores moving body data including coordinate values of a moving body equipped with a measuring device as a moving body coordinate value, and a plurality of measurements in the measurement area that are coordinate values measured using the moving body A measurement point data storage unit that stores measurement point data that includes the coordinate values of each point as measurement point coordinate values, and data that includes the coordinate values of each of a plurality of points in the measurement region as reference point coordinate values of the reference point A position locating method of a position locating device comprising a reference point data storage unit for storing as point data, a region designation input unit, a region coordinate value calculation unit, and a correction data generation unit ,
The area designation screen display unit displays a screen on which a plurality of measurement points are drawn based on the measurement point data as a measurement point area designation screen, and a screen on which a plurality of reference points is drawn based on the reference point data is a reference point. Display as area specification screen,
The area designation input unit designates a part corresponding to a specific area in the measurement area as a measurement point area with respect to the measurement point area designation screen displayed by the area designation screen display unit; Input a second region designation that designates a portion corresponding to the specific region as a reference point region for the reference point region designation screen displayed by the region designation screen display unit,
The area coordinate value calculation unit extracts the measurement point coordinate values of each of the plurality of measurement points drawn in the measurement point area designated by the first area designation from the measurement point data, and extracts from the measurement point data Based on each measured point coordinate value, the first area coordinate value is calculated as the coordinate value of the specific point of the specific area, and a plurality of references drawn in the reference point area designated by the second area designation A reference point coordinate value of each point is extracted from the reference point data, and a second region coordinate value is obtained as a coordinate value of the specific point of the specific region based on each reference point coordinate value extracted from the reference point data. Calculate
The correction data generation unit calculates a difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit as a coordinate value error, and data including the calculated coordinate value error Is generated as correction data used for correcting a moving body coordinate value included in the moving body data. A position correction data generation method for a position correction data generation apparatus, comprising: Each measurement point coordinate value extracted from the measurement point data by the region coordinate value calculation unit is a measurement point coordinate value obtained by measuring the surface of a specific three-dimensional object,
  Each reference point coordinate value extracted from the reference point data by the region coordinate value calculation unit is a reference point coordinate value obtained by measuring the surface of the specific three-dimensional object,
The region coordinate value calculation unit obtains a two-dimensional coordinate value obtained by removing a height from the coordinate values of the cross-sectional center of the specific three-dimensional object based on each measurement point coordinate value extracted from the measurement point data. It is calculated as a two-dimensional coordinate value included in one area coordinate value, and three measurement point coordinate values from the remaining measurement point coordinate values not extracted from the measurement point data are included in the first area coordinate value. Based on the dimensional coordinate value, the coordinate value of the intersection of the plane including the three measured measurement point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the first region coordinate value is the first region. Calculated as a coordinate value of the height included in the coordinate value, based on each reference point coordinate value extracted from the reference point data, two-dimensional excluding the height from the coordinate value of the cross-sectional center of the specific three-dimensional object Is included in the second region coordinate value Calculating as a dimensional coordinate value, extracting three reference point coordinate values from the remaining reference point coordinate values not extracted from the reference point data based on the two-dimensional coordinate values included in the second region coordinate values; The coordinate value of the height included in the second area coordinate value is the coordinate value of the intersection of the extracted plane including the three reference point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the second area coordinate value. Calculate as a value
The position correction data generation method according to claim 8. A moving body data storage unit that stores moving body data including coordinate values of a moving body equipped with a measuring device as a moving body coordinate value, and a plurality of measurements in the measurement area that are coordinate values measured using the moving body A measurement point data storage unit that stores measurement point data that includes the coordinate values of each point as measurement point coordinate values, and data that includes the coordinate values of each of a plurality of points in the measurement region as reference point coordinate values of the reference point A position locating method for a position locating device comprising a reference point data storage unit for storing point data, a region designation input unit, a region coordinate value calculation unit, and a moving body data correction unit,
The area designation screen display unit displays a screen on which a plurality of measurement points are drawn based on the measurement point data as a measurement point area designation screen, and a screen on which a plurality of reference points is drawn based on the reference point data is a reference point. Display as area specification screen,
The area designation input unit designates a part corresponding to a specific area in the measurement area as a measurement point area with respect to the measurement point area designation screen displayed by the area designation screen display unit; Input a second region designation that designates a portion corresponding to the specific region as a reference point region for the reference point region designation screen displayed by the region designation screen display unit,
The area coordinate value calculation unit extracts the measurement point coordinate values of each of the plurality of measurement points drawn in the measurement point area designated by the first area designation from the measurement point data, and extracts from the measurement point data Based on each measured point coordinate value, the first area coordinate value is calculated as the coordinate value of the specific point of the specific area, and a plurality of references drawn in the reference point area designated by the second area designation A reference point coordinate value of each point is extracted from the reference point data, and a second region coordinate value is obtained as a coordinate value of the specific point of the specific region based on each reference point coordinate value extracted from the reference point data. Calculate
The moving body data correction unit calculates a difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit as a coordinate value error, and based on the calculated coordinate value error A position locating method for a position locating apparatus, wherein a moving body coordinate value included in the moving body data is corrected. Each measurement point coordinate value extracted from the measurement point data by the region coordinate value calculation unit is a measurement point coordinate value obtained by measuring the surface of a specific three-dimensional object,
  Each reference point coordinate value extracted from the reference point data by the region coordinate value calculation unit is a reference point coordinate value obtained by measuring the surface of the specific three-dimensional object,
The region coordinate value calculation unit obtains a two-dimensional coordinate value obtained by removing a height from the coordinate values of the cross-sectional center of the specific three-dimensional object based on each measurement point coordinate value extracted from the measurement point data. It is calculated as a two-dimensional coordinate value included in one area coordinate value, and three measurement point coordinate values from the remaining measurement point coordinate values not extracted from the measurement point data are included in the first area coordinate value. Based on the dimensional coordinate value, the coordinate value of the intersection of the plane including the three measured measurement point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the first region coordinate value is the first region. Calculated as a coordinate value of the height included in the coordinate value, based on each reference point coordinate value extracted from the reference point data, two-dimensional excluding the height from the coordinate value of the cross-sectional center of the specific three-dimensional object Is included in the second region coordinate value Calculating as a dimensional coordinate value, extracting three reference point coordinate values from the remaining reference point coordinate values not extracted from the reference point data based on the two-dimensional coordinate values included in the second region coordinate values; The coordinate value of the height included in the second area coordinate value is the coordinate value of the intersection of the extracted plane including the three reference point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the second area coordinate value. Calculate as a value
The position locating method according to claim 10. A moving body data storage unit that stores moving body data including coordinate values of a moving body equipped with a measuring device as a moving body coordinate value, and a plurality of measurements in the measurement area that are coordinate values measured using the moving body A measurement point data storage unit that stores measurement point data that includes the coordinate values of each point as measurement point coordinate values, and data that includes the coordinate values of each of a plurality of points in the measurement region as reference point coordinate values of the reference point A position correction data generation program for functioning a position correction data generation device including a reference point data storage unit for storing point data,
An area that displays a screen on which a plurality of measurement points are drawn based on the measurement point data as a measurement point area designation screen, and a screen on which a plurality of reference points is drawn based on the reference point data is displayed as a reference point area designation screen A designated screen display section;
A first area designation that designates a portion corresponding to a specific area in the measurement area as a measurement point area with respect to the measurement point area designation screen displayed by the area designation screen display section, and the area designation screen display section An area designation input unit for inputting a second area designation for designating a portion corresponding to the specific area as a reference point area for the displayed reference point area designation screen ;
The measurement point coordinate values of each of a plurality of measurement points drawn in the measurement point region designated by the first region designation are extracted from the measurement point data, and the measurement point coordinate values extracted from the measurement point data are extracted. A first region coordinate value is calculated as a coordinate value of the specific point of the specific region based on the reference point coordinate value of each of the plurality of reference points drawn in the reference point region designated by the second region designation An area coordinate value calculation unit that extracts from the reference point data and calculates a second area coordinate value as a coordinate value of the specific point of the specific area based on each reference point coordinate value extracted from the reference point data ; ,
The difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit is calculated as a coordinate value error, and data including the calculated coordinate value error is included in the mobile object data A position correction data generation program that causes a position correction data generation device to function as a correction data generation unit that generates as correction data used for correction of a moving body coordinate value. Each measurement point coordinate value extracted from the measurement point data by the region coordinate value calculation unit is a measurement point coordinate value obtained by measuring the surface of a specific three-dimensional object,
  Each reference point coordinate value extracted from the reference point data by the region coordinate value calculation unit is a reference point coordinate value obtained by measuring the surface of the specific three-dimensional object,
The region coordinate value calculation unit obtains a two-dimensional coordinate value obtained by removing a height from the coordinate values of the cross-sectional center of the specific three-dimensional object based on each measurement point coordinate value extracted from the measurement point data. It is calculated as a two-dimensional coordinate value included in one area coordinate value, and three measurement point coordinate values from the remaining measurement point coordinate values not extracted from the measurement point data are included in the first area coordinate value. Based on the dimensional coordinate value, the coordinate value of the intersection of the plane including the three measured measurement point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the first region coordinate value is the first region. Calculated as a coordinate value of the height included in the coordinate value, based on each reference point coordinate value extracted from the reference point data, two-dimensional excluding the height from the coordinate value of the cross-sectional center of the specific three-dimensional object Is included in the second region coordinate value Calculating as a dimensional coordinate value, extracting three reference point coordinate values from the remaining reference point coordinate values not extracted from the reference point data based on the two-dimensional coordinate values included in the second region coordinate values; The coordinate value of the height included in the second area coordinate value is the coordinate value of the intersection of the extracted plane including the three reference point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the second area coordinate value. Calculate as a value
The position correction data generation program according to claim 12, wherein: A moving body data storage unit that stores moving body data including coordinate values of a moving body equipped with a measuring device as a moving body coordinate value, and a plurality of measurements in the measurement area that are coordinate values measured using the moving body A measurement point data storage unit that stores measurement point data that includes the coordinate values of each point as measurement point coordinate values, and data that includes the coordinate values of each of a plurality of points in the measurement region as reference point coordinate values of the reference point A position location program for causing a position location device comprising a reference point data storage unit to store as point data to function,
An area that displays a screen on which a plurality of measurement points are drawn based on the measurement point data as a measurement point area designation screen, and a screen on which a plurality of reference points is drawn based on the reference point data is displayed as a reference point area designation screen A designated screen display section;
A first area designation that designates a portion corresponding to a specific area in the measurement area as a measurement point area with respect to the measurement point area designation screen displayed by the area designation screen display section, and the area designation screen display section An area designation input unit for inputting a second area designation for designating a portion corresponding to the specific area as a reference point area for the displayed reference point area designation screen ;
The measurement point coordinate values of each of a plurality of measurement points drawn in the measurement point region designated by the first region designation are extracted from the measurement point data, and the measurement point coordinate values extracted from the measurement point data are extracted. A first region coordinate value is calculated as a coordinate value of the specific point of the specific region based on the reference point coordinate value of each of the plurality of reference points drawn in the reference point region designated by the second region designation An area coordinate value calculation unit that extracts from the reference point data and calculates a second area coordinate value as a coordinate value of the specific point of the specific area based on each reference point coordinate value extracted from the reference point data ; ,
The difference between the first region coordinate value and the second region coordinate value calculated by the region coordinate value calculation unit is calculated as a coordinate value error, and the movement included in the moving body data based on the calculated coordinate value error A position locating program that causes a position locating device to function as a moving body data correcting unit that corrects a body coordinate value. Each measurement point coordinate value extracted from the measurement point data by the region coordinate value calculation unit is a measurement point coordinate value obtained by measuring the surface of a specific three-dimensional object,
  Each reference point coordinate value extracted from the reference point data by the region coordinate value calculation unit is a reference point coordinate value obtained by measuring the surface of the specific three-dimensional object,
The region coordinate value calculation unit obtains a two-dimensional coordinate value obtained by removing a height from the coordinate values of the cross-sectional center of the specific three-dimensional object based on each measurement point coordinate value extracted from the measurement point data. It is calculated as a two-dimensional coordinate value included in one area coordinate value, and three measurement point coordinate values from the remaining measurement point coordinate values not extracted from the measurement point data are included in the first area coordinate value. Based on the dimensional coordinate value, the coordinate value of the intersection of the plane including the three measured measurement point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the first region coordinate value is the first region. Calculated as a coordinate value of the height included in the coordinate value, based on each reference point coordinate value extracted from the reference point data, two-dimensional excluding the height from the coordinate value of the cross-sectional center of the specific three-dimensional object Is included in the second region coordinate value Calculating as a dimensional coordinate value, extracting three reference point coordinate values from the remaining reference point coordinate values not extracted from the reference point data based on the two-dimensional coordinate values included in the second region coordinate values; The coordinate value of the height included in the second area coordinate value is the coordinate value of the intersection of the extracted plane including the three reference point coordinate values and the perpendicular passing through the two-dimensional coordinate value included in the second area coordinate value. Calculate as a value
The position locating program according to claim 14.

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