JP2004333445A - Device and program for assisting ground truth - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve efficiency in field survey by specifying position and height on a radiowave image and a map for automatically calculating correction data required, corresponding to a structure or the like, which is displayed on a screen. <P>SOLUTION: The device displays a radiowave image read out of a radiowave image information managing means and a map read out of a map information means, linking with the positional information inputted from an input means or acquired from a positioning means of a radiowave/map position converting means. It is provided with a radiowave image designation foreshortening correction means that calculates a correction position coordinate, by acquiring a correction amount of the position coordinate on the map from the information about position and height that are specified on the radiowave image which is displayed, based on the position of a radiowave sensor, when imaging the radiowave image acquired from the position information and an imaging/regenerating information. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

ここで、式（１）は、反射点での入射角と反射角が同じと仮定して、２つの相似関係にある三角形から定義している。式（２）は、反射移動距離Ｔが、２つの多重散乱点間の電波の通った経路の距離差であることから定義している。また、式（３）は、反射点がＳＡＲと散乱基準点の直線上にあると仮定して定義している。
多重反射面位置高度推定手段３４は、算出したｄ１、ｄ２、Ｈの値から、地図上で入力された散乱基準点の位置（座標）等を参照して、反射点の位置（座標）と高度を得る。最後に多重反射面位置高度推定手段３４は、算出した反射点の位置（座標）と高度を地図上に表示するように、端末制御手段５経由で、表示手段９に指示する。この場合の表示では、反射点の位置（座標）は散乱点と異なる形状のアイコン（散乱点が星印とすれば、丸印等）で表示し、また高度はアイコンの直ぐ脇に数値で表示する。
【０１３８】
以上のように、この実施の形態２４によれば、電波画像上で指定された隣接する２点の多重散乱点に基づいて撮像・再生情報からの散乱点計測時におけるＳＡＲの位置情報と電波の照射方向を入手し、入手した位置情報からＳＡＲの高度ｈ１を得ると共に、電波の照射方向の電波が通った経路の距離差を多重散乱点の２点間の距離Ｔとして算出し、地図上で指定された散乱基準点の位置と高さから、当該散乱基準点の高度ｈ２、ＳＡＲと散乱基準点間の直線距離ｒ１、およびＳＡＲと散乱基準点間の地図上での距離ｄ０を算出し、得られたＳＡＲの高度ｈ１、多重散乱点の２点間の距離Ｔ、当該散乱基準点の高度ｈ２、ＳＡＲと散乱基準点間の直線距離ｒ１およびＳＡＲと散乱基準点間の地図上での距離ｄ０を用いてＳＡＲと多重散乱を起こす反射点との地図上での距離ｄ１、散乱基準点と当該反射点間の地図上での距離ｄ２および当該反射点の高度Ｈを算出し、これら算出した各距離ｄ１，ｄ２と高度Ｈの値から、地図上で指定された散乱基準点の位置を参照して当該反射点の位置と高度を得て地図上に表示させるよう構成したものである。したがって、多重散乱を起こす原因となっている場所を容易に推定でき、グランドトゥルースを効率良く行える効果が得られる。また、多重散乱を起こす反射点の撮像時の高度を知ることができ、反射点が高さの変わる水面等である場合に、撮像時の高さを推定できる効果が得られる。
なお、この実施の形態２４では、実施の形態１に対する例で説明したが、多重反射面位置高度推定手段３４を、実施の形態２〜実施の形態２３に適用してもよく、上記と同様な効果を奏することができる。
【０１３９】
実施の形態２５．
図５４はこの発明の実施の形態２５によるグランドトゥルース支援装置の構成を示すブロック図で、図において、図１と同一または相当する部分には同一符号を付し、原則としてその説明は省略する。この実施の形態２５の装置は、実施の形態１に、参考画像呼び出し手段３５を加えた構成を有する。参考画像呼び出し手段３５は、調査対象の電波画像と比較するための参考となる電波画像を生成するか、またはデータベースを参照することにより参考となる電波画像を選択して表示手段９上に表示する手段である。
【０１４０】
参考画像呼び出し手段３５としては、調査対象に関する条件、例えば構造物の構造と電波の照射方法が入力された場合、シミュレーションを実施して、参考となる電波画像を生成し表示させることが考えられる。また、他の方法として、いくつかの電波画像をデータベースとして、予め保持しておいて、そこから参考となる画像を選択して表示手段９の画面に表示するようにしてもよい。この他、草地などの背景となるデータを構造物と組み合わせて表示できるような機能を備えてもよい。さらに、参考となる電波画像を表示する際に、実際の電波画像上の調査対象と対比させて表示するようにしてもよい。
【０１４１】
参考画像呼び出し手段３５では、シミュレーションやデータベースなど、計算負荷の大きい処理や、データを大量に蓄積することが求められるケースがある。グランドトゥルース支援装置１が携帯型の端末の場合、計算能力やデータの記憶容量には限界がある。そこで、図５５に示すように、参考画像呼び出し手段３５をグランドトゥルース支援装置１とグランドトゥルース支援センタ３６に分けて実装するようにしてもよい。この場合、計算負荷の大きい処理のための計算設備やマスタデータベースをグランドトゥルース支援センタ３６側に用意し、グランドトゥルース支援装置１からは、必要な時に呼び出して利用するようにする。グランドトゥルース支援装置１とグランドトゥルース支援センタ３６の間の通信は、必要な時にデータの交換が行える適当な通信手段を用いれば実現できる。例えば、携帯電話等の電波を用いた無線による通信、また公衆電話などを介して有線による通信を利用することが考えられる。
なお、地図情報手段７や電波画像情報管理手段８等も大きなデータを保持する可能性があり、これらについても参考画像呼び出し手段３５と同様にグランドトゥルース支援センタ３６に実装して通信手段を用いてデータ交換するようにしてもよい。このことは、各実施の形態においても適用できることである。
【０１４２】
以上のように、この実施の形態２５によれば、調査対象に関する条件が入力された場合、参考となる電波画像をシミュレーションにより生成するか、またはデータベースを参照することにより参考となる電波画像を選択し表示させるようにしたので、調査対象の実際の電波画像を参考となる電波画像と比較しながら、現地での調査が行うことができるため、グランドトゥルースを効率良く行える効果が得られる。
なお、この実施の形態２５では、実施の形態１に対する例で説明したが、参考画像呼び出し手段３５を、実施の形態２〜実施の形態２４に適用してもよく、上記と同様な効果を奏することができる。例えば、実施の形態１８の物体形状設定手段２６では、特定の形状の入力として、参考となる電波画像を利用できる。
【０１４３】
実施の形態２６．
電波画像では、撮像時の気象条件などにより、撮影される画像が大きく変化することがある。例えば、水面では、風の強さにより表面の波に変化が起き、電波の後方散乱の大きさが変わる。強風の時には画像上に波がくっきりと映るが、無風の時は電波が進行方向に反射されて後方散乱が小さく鏡のように平らな面として映ったりする。また、水面が凍結しているか否かで電波の反射の大きさが変わる。また、人工の構造物でも、建設中や解体中のものは、完成済みの構造物とは、電波の反射の大きさが変わる。したがって、上記実施の形態２５で述べた参考画像呼び出し手段３５により生成または選択した電波画像は、利用する上で必ずしも適切でない場合がある。この実施の形態２６では、このような問題に対応する手段を提供する。
【０１４４】
図５６はこの発明の実施の形態２６によるグランドトゥルース支援装置の構成を示すブロック図で、図において、図５４と同一または相当する部分には同一符号を付し、原則としてその説明は省略する。この実施の形態２６の装置は、実施の形態２５に、観測状況設定手段３７を加えた構成を有する。観測状況設定手段３７は、調査対象の電波画像を撮影した時の観測状況に応じたパラメータを予め設定する手段である。
【０１４５】
参考となる電波画像に関して、それを撮影した時の観測状況に応じたパラメータ、例えば風の強さに応じた水面における電波の反射率、凍結の可否による水面の反射率などのパラメータを準備しておく。これらのパラメータは、装置の使用者が表示手段９と入力手段１０を使って入力すると、端末制御手段５経由で、観測状況設定手段３７に記録設定される。次に、参考画像呼び出し手段３５は、参考となる電波画像を生成または選択する時に、この観測状況設定手段３７を参照し、対応するパラメータを呼び出し、参考とする電波画像の選択や生成への設定条件として使用する。
【０１４６】
以上のように、この実施の形態２６によれば、調査対象となる電波画像を撮影した時の観測状況に応じたパラメータを予め設定し、設定されたパラメータを用いて対応する参考となる画像の選択や生成を行うようにしたので、現地調査中に、これらのパラメータを設定しながら、参考となる電波画像を適切に入手できる効果が得られる。
【０１４７】
実施の形態２７．
図５７はこの発明の実施の形態２７によるグランドトゥルース支援装置の構成を示すブロック図で、図において、図１と同一または相当する部分には同一符号を付し、原則としてその説明は省略する。この実施の形態２７の装置は、実施の形態１に参考情報検索手段３８を加えた構成を有する。参考情報検索手段３８は、現地調査で参考となる情報ついて装置内または外部のデータベースを検索する手段である。
【０１４８】
現地での調査活動は、電波画像を撮影した後で実施されることが多いため、時間の経過により、撮像時と調査活動時で、現地の状況が変化していることがある。例えば、撮像時の気象条件や構造物の建築や解体情報など、電波画像に影響を与える情報が、調査活動中に必要とされる。このような時、装置の使用者は、表示手段９と入力手段１０を使って検索画面を呼び出し、例えば参考となる情報に係るキーワードを入力する。すると、参考情報検索手段３８は、そのキーワードに基づいて、電波画像に影響を与える情報が予め設定されたデータベース（図示せず）を検索し、検索結果のデータを表示手段９に表示させるよう動作する。
【０１４９】
参考情報検索手段３８としては、適当な方法を用いて参考となる情報を検索できればよく、上記の他に、図５５のように、グランドトゥルース支援センタ３６にマスタデータベースを置いて、グランドトゥルース支援装置１と連係して動作することで、参考となる情報を検索する構成でもよい。また、インターネット等に繋いで、情報を検索する機能を付加するような構成でもよい。
【０１５０】
以上のように、この実施の形態２７によれば、電波画像に影響を与える情報が予め設定されたデータベースを検索し、参考となる情報を選択して表示させるようにしたので、現地での調査活動中に、電波画像に影響を与える情報を容易に入手でき、グランドトゥルースを効率良く行える効果が得られる。
この実施の形態２７では、実施の形態１に対する例で説明したが、参考情報検索手段３８を、実施の形態２〜実施の形態２６に適用してもよく、上記と同様な効果を奏することができる。
【０１５１】
実施の形態２８．
図５８はこの発明の実施の形態２８によるグランドトゥルース支援装置の構成を示すブロック図で、図において、図１と同一または相当する部分には同一符号を付し、原則としてその説明は省略する。この実施の形態２８の装置は、実施の形態１に画像幾何補正手段３９を加えた構成を有する。画像幾何補正手段３９は、グランドトゥルース調査データ記録手段３に記録された高さ情報を用い、電波画像情報管理手段８に記録された電波画像の幾何補正を行う手段である。
【０１５２】
グランドトゥルース調査データ記録手段３には、前述したようにこの装置を用いて現地調査した際に使用した各種データが記録されている。入力手段１０から指示入力を受け、画像幾何補正手段３９は、端末制御手段５経由で、グランドトゥルース調査データ記録手段３に記録された高さと位置の情報を入手する。次に、入手した高さと位置の情報に基づいて、端末制御手段５経由で、電波画像情報管理手段８からその情報に対応する電波画像およびその撮像・再生情報を読み出し、その電波画像に対して高さによる位置を幾何補正する。この場合の幾何補正は、高さを基に、複数の地点について画像上の移動後の位置を決定し、例えば、アフィン変換などの方法により行われる。その後、幾何補正した電波画像を、端末制御手段５経由で、表示手段９へ表示させる。
【０１５３】
以上のように、実施の形態２８によれば、現地調査時に記録された高さと位置の情報を入手し、その高さと位置の情報に基づいて、記録された対応する電波画像およびその撮像・再生情報を参照して高さによる位置を幾何補正した電波画像を作成し、その幾何補正された電波画像を表示するようにしたので、電波画像を正確に確認できるようになり、グランドトゥルースを効率良く行える効果が得られる。
この実施の形態では、実施の形態１に適用した例として説明したが、画像幾何補正手段３９を、実施の形態２〜実施の形態２７に適用してもよく、上記と同様な効果を奏することができる。
【０１５４】
実施の形態２９．
地図と電波画像は座標系等が異なるため、対応位置を算出する場合に、両者の間で歪みによるずれが生じる。この歪みは、座標系の変換計算による丸め誤差や、ＳＡＲの撮影時における位置情報の計測誤差を含むデータから自動的に算出される位置情報の計算誤差を指す。この実施の形態２９は、地図と電波画像のように異なる座標系に跨って位置情報を変換する場合に、位置情報の計算誤差を、実際の観測情報を基に補正することにある。
図５９はこの発明の実施の形態２９によるグランドトゥルース支援装置の構成を示すブロック図で、図において、図１と同一または相当する部分には同一符号を付し、原則としてその説明は省略する。この実施の形態２９の装置は、実施の形態１に電波画像対地図位置変換情報補正手段４０を加えた構成を有する。電波画像対地図位置変換情報補正手段４０は、入力された地図と電波画像上の複数の対応地点から、電波・地図位置換算手段４を用いて、電波画像と地図上の位置の対応関係を算出する計算を補正する手段である。
【０１５５】
図６０はこの実施の形態２９に係る動作の概要を示す説明図である。
まず、装置の使用者が、表示手段９と入力手段１０を使って、図６０（ａ）と図６０（ｂ）に示すように、表示手段９に表示された地図と電波画像上で、正確に対応位置が分っている複数の対応地点（星印）を入力する。
ここで、入力する電波画像と地図上の対応地点の候補としては、任意のものを選択できる。ただし、補正がなされていない状況では、地図と電波画像の位置関係が大きくずれていることも予測され、対応地点の候補を選択することが難しい場合も想定される。そのような場合には、橋や川など、電波画像での認識が容易で、地図上での位置も明確なランドマークを対応地点の候補として選択することが考えられる。また、コーナーリフレクタ等、電波画像上で位置を特定するための基準となる構造物を、予め電波画像の撮影場所に置いておき、これを対応地点の候補としてもよい。
【０１５６】
電波画像対地図位置変換情報補正手段４０は、端末制御手段５経由で、入力された複数の対応地点（星印）の情報を受け取って電波・地図位置換算手段４に渡し、受け取った地図上の複数の位置に対する電波画像上の位置をそれぞれ算出させる。次に、電波画像対地図位置変換情報補正手段４０は、電波・地図位置換算手段４から算出結果を受け取り、最初に入力された電波画像上の複数の対応地点（星印）とこの算出結果の電波画像上の位置との誤差を算出する。さらに、電波画像対地図位置変換情報補正手段４０は、算出した誤差を基にアフィン変換などを利用して位置計算の補正方法を決定する。最後に、電波画像対地図位置変換情報補正手段４０は、電波・地図位置換算手段４で算出した電波画像と地図上の位置算出方法を修正する。この修正後、電波・地図位置換算手段４は修正された計算方法で電波画像と地図上の対応関係を算出する。
【０１５７】
以上のように、この実施の形態２９によれば、表示された地図と電波画像上の互いに対応する複数の対応地点が入力された場合、入力された地図上の複数の対応地点に対する電波画像上の位置をそれぞれ算出し、最初に入力された電波画像上の複数の対応地点とこの算出された電波画像上の位置との誤差を算出し、算出した誤差を基にアフィン変換などを利用して位置計算の補正方法を決定し、算出した電波画像と地図上の位置算出方法を修正し、補正された計算方法により電波画像と地図上の対応関係を算出するようにしたので、電波画像と地図上の位置の対応関係をより正確に示すことができ、グランドトゥルースを効率良く行える効果が得られる。
なお、この実施の形態２９では、実施の形態１に適用した例で説明したが、電波画像対地図位置変換情報補正手段４０を、実施の形態２〜実施の形態２８に適用してもよく、上記と同様な効果を奏することができる。
【０１５８】
実施の形態３０．
図６１はこの発明の実施の形態３０によるグランドトゥルース支援装置の構成を示すブロック図で、図において、図１と同一または相当する部分には同一符号を付し、原則としてその説明は省略する。この実施の形態３０の装置は、実施の形態１に電波の照射方向表示手段４１を加えた構成を有する。電波の照射方向表示手段４１は、地図上における電波の照射方向を算出する手段である。
【０１５９】
まず、電波の照射方向表示手段４１は、端末制御手段５経由で、電波画像情報管理手段８の撮像・再生情報から、ＳＡＲの位置と電波の照射方向の情報を得る。次に、電波の照射方向表示手段４１は、端末制御手段５経由で電波・地図位置換算手段４を使って、地図上における電波の照射方向を算出させる。最後に、電波の照射方向表示手段４１は、算出された地図上における電波の照射方向を表示するように、端末制御手段５経由で表示手段９に指示する。
なお、電波の照射方向だけを表示する例について述べたが、電波の照射角度（入射角）についても情報を入手可能であるので、照射方向と共に、入射角も同時に表示するようにしてもよい。
【０１６０】
以上のように、実施の形態３０によれば、撮像・再生情報から得たＳＡＲの位置と電波の照射方向の情報を用いて、電波の照射方向を地図上における電波の照射方向に変換し、地図上に電波の照射方向を表示するようにしたので、調査を実施する現地において電波の照射方向の確認を容易にし、グランドトゥルースを効率良く行える効果が得られる。
なお、この実施の形態３０では、実施の形態１に適用した例で説明したが、電波の照射方向表示手段４１を、実施の形態２〜実施の形態２９に適用してもよく、上記と同様な効果を奏することができる。
【０１６１】
【発明の効果】
以上のように、この発明によれば、この発明に係るグランドトゥルース支援装置は、現在位置を示す位置情報を入手する測位手段と、対象地域の地図情報および地図に関連した情報を管理する地図情報手段と、調査対象の電波画像および当該電波画像の撮影時と画像再生に関する撮像・再生情報を保持して管理する電波画像情報管理手段と、撮像・再生情報を参照して電波画像と地図で対応する位置を変換して算出する電波・地図位置変換手段とを備え、電波・地図位置変換手段により、測位手段から入手しあるいは入力手段から入力された位置情報に連係して前記地図情報手段から読み出した地図と電波画像情報管理手段から読み出した電波画像を表示するグランドトゥルース支援装置において、表示された電波画像上で指定された位置と高さの情報から、位置情報と前記撮像・再生情報から得た当該電波画像の撮影時の電波センサの位置に基づいて、地図上の位置座標の補正量を求め、補正後の位置座標を算出する電波画像指定フォーショートニング補正手段とを備えるように構成したので、電波画像上の位置と地図上の位置を正確に対応させることができ、特に、人工の構造物が多い都市部において電波画像のグランドトゥルースにより現地調査を行う時に、構造物の高さによる影響を自動的に補正した地図上の位置を得ることができるため、現地調査をより効率良く行える効果がある。
【０１６２】
この発明によれば、電波センサにより撮影した電波画像、それらの電波画像の関連情報および画像再生情報などの撮像・再生情報を格納した撮像・再生情報記憶装置と、各地域の地図データを格納した地図情報記憶装置と、現在位置を示す位置情報を入手する測位手段を内蔵または外部に備えて利用するコンピュータに適用するグランドトゥルース支援プログラムであって、位置情報に基づいて撮像・再生情報より対応する地域の電波画像を得ると共に、地図情報記憶装置から対応する地域の地図データを入手して表示手段に表示し、入力手段により、表示されている電波画像上の任意の位置を指定されると共に、その指定された位置に対する高さが入力されたとき、指定された位置から電波画像に対応する地図上の位置座標を補正前位置座標として算出し、指定された位置と高さ、その指定された位置を示す電波画像を撮像した時の電波センサの位置座標および補正前位置座標に基づいて、補正前位置座標について指定された位置の高さによるずれを補正した補正後位置座標を算出し、算出された補正後位置座標を地図上に表示するように構成したので、汎用のノート型パソコンに適用してグランドトゥルース支援装置を実現し、電波画像上の位置と地図上の位置を正確に対応させることができ、現地調査をより効率良く行える効果がある。
【図面の簡単な説明】
【図１】この発明の実施の形態１によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２】同実施の形態１に係る装置の動作手順を示すフローチャートである。
【図３】同実施の形態１に係る電波画像指定フォーショートニング補正手段の動作手順を示すフローチャートである。
【図４】同実施の形態１に係る電波画像と地図上の位置との対応について示す説明図である。
【図５】同実施の形態１に係るサンプル画像の撮影状況を模式的に示す説明図である。
【図６】同実施の形態１に係るサンプル画像に対する初期化後の地図の表示例を示す説明図である。
【図７】同実施の形態１に係るサンプル画像に対する初期化後の電波画像の表示例を示す説明図である。
【図８】同実施の形態１に係る高さによる位置のずれを説明する説明図である。
【図９】同実施の形態１に係る高さによる地図上の位置のずれ補正の概要を示す説明図である。
【図１０】図１０は同実施の形態１に係るグランドトゥルース支援装置の表示例を示す説明図である。
【図１１】同実施の形態２によるグランドトゥルース支援装置の構成を示すブロック図である。
【図１２】同実施の形態２に係る装置の動作手順を示すフローチャートである。
【図１３】同実施の形態２に係る地図指定フォーショートニング補正手段の動作手順を示すフローチャートである。
【図１４】同実施の形態２に係る高さによる電波画像上の位置のずれ補正について示す説明図である。
【図１５】同実施の形態３によるグランドトゥルース支援装置の構成を示すブロック図である。
【図１６】同実施の形態４によるグランドトゥルース支援装置の構成を示すブロック図である。
【図１７】同実施の形態４に係る領域を指定した高さ情報による位置の補正の概要を示す説明図である。
【図１８】同実施の形態５によるグランドトゥルース支援装置の構成を示すブロック図である。
【図１９】同実施の形態６によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２０】同実施の形態７によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２１】同実施の形態８によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２２】同この発明の実施の形態９によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２３】同実施の形態９に係る観測状況を模式的に示す説明図である。
【図２４】同実施の形態９に係る高さの範囲を指定した地図上での位置表示の概要を示す説明図である。
【図２５】同実施の形態１０によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２６】同実施の形態１０に係る高さの範囲を指定した地図上での位置表示の例を示す説明図である。
【図２７】同実施の形態１１によるグランドトゥルース支援装置の構成を示すブロック図である。
【図２８】同実施の形態１１に係る装置の動作手順を示すフローチャートである。
【図２９】実施の形態１１に係る反射位置高度推定手段の動作手順を示すフローチャートである。
【図３０】同実施の形態１１に係る高さを求める方法の概要を示す説明図である。
【図３１】同実施の形態１１に係る高さ求める手順の概要を示す説明図である。
【図３２】同実施の形態１２によるグランドトゥルース支援装置の構成を示すブロック図である。
【図３３】同実施の形態１２に係る動作の概要を示す説明図である。
【図３４】同実施の形態１３によるグランドトゥルース支援装置の構成を示すブロック図である。
【図３５】光学のセンサと電波センサによる画像の違いを説明する説明図である。
【図３６】同実施の形態１３に係る電波画像上の距離の計算方法を示す説明図である。
【図３７】同実施の形態１４によるグランドトゥルース支援装置の構成を示すブロック図である。
【図３８】同実施の形態１５によるグランドトゥルース支援装置の構成を示すブロック図である。
【図３９】同実施の形態１６によるグランドトゥルース支援装置の構成を示すブロック図である。
【図４０】同実施の形態１６に係る上下反転斜度算出手段による角度の算出方法を示す説明を図である。
【図４１】同実施の形態１７によるグランドトゥルース支援装置の構成を示すブロック図である。
【図４２】同実施の形態１７に係る高さ算出方法を示す説明図である。
【図４３】同実施の形態１８によるグランドトゥルース支援装置の構成を示すブロック図である。
【図４４】同実施の形態１９によるグランドトゥルース支援装置の構成を示すブロック図である。
【図４５】同実施の形態１９が対象とする多重反射について示す説明図である。
【図４６】同実施の形態１９に係る動作の概要を示す説明図である。
【図４７】同実施の形態２０によるグランドトゥルース支援装置の構成を示すブロック図である。
【図４８】同実施の形態２１によるグランドトゥルース支援装置の構成を示すブロック図である。
【図４９】同発明の実施の形態２２によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５０】同実施の形態２３によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５１】同実施の形態２３に係る動作の概要を示す説明図である。
【図５２】同実施の形態２４によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５３】同実施の形態２４に係る反射面位置高度推定手段の算出動作の概要を示す説明図である。
【図５４】同実施の形態２５によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５５】同実施の形態２５に係る実現例を示す説明図である。
【図５６】同実施の形態２６によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５７】同実施の形態２７によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５８】同実施の形態２８によるグランドトゥルース支援装置の構成を示すブロック図である。
【図５９】同実施の形態２９によるグランドトゥルース支援装置の構成を示すブロック図である。
【図６０】同実施の形態２９に係る動作の概要を示す説明図である。
【図６１】同実施の形態３０によるグランドトゥルース支援装置の構成を示すブロック図である。
【符号の説明】
１ グランドトゥルース支援装置、２ 電波画像指定フォーショートニング補正手段、３ グランドトゥルース調査データ記録手段、４ 電波・地図位置換算手段、５ 端末制御手段、６ 測位手段、７ 地図情報手段、８ 電波画像情報管理手段、９ 表示手段、１０ 入力手段、１１ 地図指定フォーショートニング補正手段、１２ 領域指定手段、１３ データベース項目設定手段、１４ 調査レポート記録手段、１５ 光学情報記録手段、１６ 反射強度・高さ記録手段、１７ 電波画像指定位置候補列挙手段、１８ 地図指定位置候補列挙手段、１９ 反射位置高度推定手段、２０ 地図影域算出手段（影域算出手段）、２１ 上下反転域算出手段、２２ 電波影域算出手段（影域算出手段）、２３ 上下反転電波影域合成手段、２４ 上下反転斜度算出手段、２５ 電波影域地図位置算出手段、２６ 物体形状設定手段、２７ 電波影域制御手段、２８ 反射面指定手段、２９ 多重散乱点算出手段、３０ 反射面高度設定手段（反射面管理手段）、３１ 反射角度設定手段（反射面管理手段）、３２ 複数反射面管理手段（反射面管理手段）、３３ 反射回数設定手段（反射面管理手段）、３４ 多重反射面位置高度推定手段、３５ 参考画像呼び出し手段、３６ グランドトゥルース支援センタ、３７ 観測状況設定手段、３８ 参考情報検索手段、３９ 画像幾何補正手段、４０ 電波画像対地図位置変換情報補正手段、４１ 照射方向表示手段。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a ground truth support device and a ground truth support program for assisting on-site investigation activities targeted at radio wave images obtained by remote sensing.
[0002]
[Prior art]
An image radar using a microwave or the like has a feature that enables observation of the ground surface or the like regardless of weather such as daytime, nighttime, and fog, and is used in the field of remote sensing. One of such image radars is a synthetic aperture radar (hereinafter, referred to as SAR). The SAR uses a relatively small antenna mounted on an artificial satellite or aircraft, utilizes the progress of the flying object, and uses signal processing technology to provide the same high-resolution ground surface as when using a virtually large antenna. It is used as remote sensing for earth observation in order to be able to take images. Here, the SAR observation data is often subjected to signal processing or the like and used as a radio wave image.
[0003]
Generally, a radio wave image is more difficult to read and analyze than an optical image. In other words, there are places where it is difficult to understand what is being captured. For this reason, ground truth (ground truth: a survey operation in which the user goes to the site where the image was taken and compares the image with an object in the site) may be performed. In the operation of the ground truth, it is an issue to clarify the correspondence between the position on the radio wave image and the actual position where the investigation is being performed. The local location information for that purpose can be relatively easily obtained using GPS (Global Positioning System), DGPS (Differential GPS), or the like. In addition, digitization of map information is progressing, and map information including road and altitude information in Japan is being sold. As a system linked with map information using position information, it has already been put to practical use in many systems such as car navigation.
[0004]
There is a report on a conventional system in which radio wave images are associated with position information and map data (for example, see Non-Patent Document 1). Here, as an experiment to investigate the area of farmland, we conducted an investigation of the local situation while confirming the current location three days after shooting using the image that was processed by RADARSAT near real time using the system shown in the figure. It is described that it did.
Referring to FIG. 8 used in the description of the present invention, a radio wave image is an image based on a distance from an image radar (a distance from an observation position). For this reason, when the reflector has a height, the object is likely to appear at a position shifted from the positional relationship on the map. In the example of FIG. 8, if the distance on the map from the SAR is simply calculated based on the range A that is the distance from the SAR, the distance becomes A1, and the position before the actual distance B1 is calculated. I will. Thus, if position information is simply calculated, it is difficult to correspond to a position on a radio wave image. The factor that causes the positional relationship on the map to deviate in the radio wave image according to the altitude of the scattering point is called four shortening (falling or layover) distortion. There is a method of geometrically correcting this deviation using DEM (Digital Elevation Map) data or the like (for example, see Patent Document 1). This system corrects foreshortening distortion by geometric correction using a digital terrain model. On the other hand, there is a system that corrects a map distortion based on a survey result in a field survey using position information (for example, see Patent Document 2).
[0005]
[Non-patent document 1]
Naoki Ishizuka, Motoya Saito (Research Institute for Agricultural and Environmental Technology) "Using ALOS / PALSAR Data in Agriculture", SAR Workshop 2002, Japan Society for Natural Resources and Science, Earth Science and Technology Promotion Organization, January 17-18, 2002 , P18
[Patent Document 1]
JP-A-4-244989
[Patent Document 2]
JP 2000-298430 A
[0006]
[Problems to be solved by the invention]
The conventional system for performing correction by linking a radio wave image with position information and map data is configured as described above, but has the following problems.
In a system like Non-Patent Document 1, using a radio wave image in which a deviation from a position on a map due to four shortening disclosed in Patent Document 1 is used, the number of artificial structures is small, and the use of land (reflection) In rural areas where the characteristics) are relatively constant over a relatively large range, it is conceivable that survey activities can be conducted on-site while making the positional relationship between radio wave images and maps somewhat consistent. However, in urban areas with many artificial structures, not only the topography but also the height of the structures must be considered. In addition, the artificial structures have different reflection strengths and reflection positions of radio waves depending on shapes and constituent materials. For this reason, there has been a problem that it is difficult to make a position on a radio wave image correspond to a position on a map only by geometric correction using map information obtained in advance such as a DEM. Further, when the radio wave image is converted into a coordinate system on a map by geometric correction or the like, information may be lost. For this reason, ground truth may use an image of a coordinate system different from the map, such as an original radio wave image without any correction. In this case, there is also a problem that it is necessary to separately convert the position information obtained by GPS (Global Positioning System) into a position on a radio wave image in consideration of various coordinate systems and geometric correction performed on the image. there were.
[0007]
In the event of large-scale natural disasters such as earthquakes, landslides, volcanic eruptions, tsunamis, floods, etc., the topography changes greatly, and it may not always be possible to deal with geometric correction based on existing elevation data . Assuming a conventional system in which Non-Patent Document 1 and Patent Document 1 are combined, if such existing altitude data cannot be used, the altitude information and the like newly obtained on the site are used to display radio wave images. There is a problem that it is difficult to make the position correspond to the position on the map. Further, according to the method of Patent Document 2, it is possible to correct the distortion of the map using the position information obtained on the spot, but the position on the SRA image and the position on the map are corrected using the altitude information and the like. No function was provided for matching the position.
[0008]
In recent years, three-dimensional maps containing information on artificial structures in urban areas have been provided. In the radio wave image, the appearance position on the image differs depending on the reflection intensity and the reflection position of the radio wave of the artificial structure. Therefore, to make the position on the radio wave image correspond to the position on the map using existing information, 3 For each artificial structure on the three-dimensional map, information on the reflection intensity and reflection position of the radio wave is required in addition to the information on the height and shape. Artificial structures have a shorter period of height changes and changes compared to natural terrain due to new construction, renovation, and demolition. In addition, the height, position, and shape are greatly changed, such as collapse due to a natural disaster such as an earthquake. For this reason, it is difficult to obtain in advance complete information for associating the position on the radio wave image with the position on the map, and in a conventional system in which Non-Patent Document 1 and Patent Document 1 are combined, the There was a problem that it was not possible to cope with the ground truth.
[0009]
It is also required that information observed at ground truth can be recorded efficiently. In this case, it is preferable that the result of the investigation can be recorded in accordance with not only the map information but also the image data and the situation of the photographed place. This is because of the know-how that Grand Truth does not merely collect information on the area where the image was taken, but also analyzes and interprets radio wave images in areas where it is difficult to actually go, based on the collected information from the survey there. This is because the purpose is to accumulate, but the conventional technology has not shown any method for solving such a problem.
[0010]
SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem. By designating a position or a height on a radio wave image or a map, correction data required for a structure or the like is automatically generated. It is an object of the present invention to obtain a ground truth support device and a ground truth support program which can be calculated and displayed on a screen to make it possible to improve the efficiency of work required in a field survey.
[0011]
[Means for Solving the Problems]
A ground truth support device according to the present invention includes: a positioning unit that obtains position information indicating a current position; a map information unit that manages map information of a target area and information related to a map; Radio wave image information management means for holding and managing imaging / reproduction information related to image capturing and image reproduction, and a radio / map calculated by converting a position corresponding to a radio wave image and a map with reference to the imaging / reproduction information A position conversion unit, and a radio wave / map position conversion unit, which is read from the map information unit and read from the radio wave image information management unit in association with position information obtained from the positioning unit or input from the input unit. In a ground truth support device that displays a radio wave image, position information and the above-described image capturing are obtained from information on a position and a height specified on the displayed radio wave image. A radio frequency image designation four shortening correction means for obtaining a correction amount of position coordinates on a map based on the position of the radio wave sensor at the time of capturing the radio wave image obtained from the reproduction information and calculating the corrected position coordinates; It is a thing.
[0012]
A ground truth support program according to the present invention includes a radiographic image captured by a radio wave sensor, an imaging / reproduction information storage device storing imaging / reproduction information such as related information of the radio image and image reproduction information, and a map of each region. A ground truth support program applied to a computer having a map information storage device storing data and a positioning means for acquiring position information indicating a current position, which is built in or external to the computer, and performs imaging / playback based on the position information. A radio wave image of the corresponding area is obtained from the information, and map data of the corresponding area is obtained from the map information storage device and displayed on the display means, and an arbitrary position on the displayed radio wave image is designated by the input means. When the height for the specified position is input, the specified position corresponds to the radio wave image. The position coordinates on the map are calculated as the pre-correction position coordinates, the specified position and height, based on the position coordinates of the radio wave sensor and the pre-correction position coordinates when the radio wave image indicating the specified position is captured, The corrected position coordinates are calculated by correcting the deviation of the designated position coordinates due to the height of the designated position, and the calculated corrected position coordinates are displayed on a map.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a ground truth support device according to Embodiment 1 of the present invention. In each of the following embodiments of the present invention including the first embodiment, a radio wave image of SAR is described as an example. However, the present invention is not limited to SAR, and is not limited to SAR. The present invention can be applied to a radio wave image obtained from another image radar using waves or the like (collectively referred to as a “radio wave sensor”).
[0014]
The radio wave image information management means 8 includes a radio wave image captured by remote sensing using a SAR (radio wave sensor), related information of the radio wave image, and information used for reproducing the radio wave image (whether or not there is correction, an image correction method, and the like). The image / reproduction information including the method for generating an image including the image / reproduction information is stored in the internal / external image / reproduction information storage device. Here, the related information of the radio wave image includes the imaging date and time of the radio wave image, the position coordinates of the SAR at the time of shooting, the irradiation direction and irradiation angle of the radio wave, and the information of the irradiated radio wave (wavelength, polarization, modulation method, etc.). Source information). The purpose of the imaging / reproduction information is to provide a parameter for calculating position information corresponding to a radio wave image of a target (subject). The information necessary for calculating the position is the radio wave image itself, the position coordinates of the SAR at the time of shooting, the irradiation direction of the radio wave, and the irradiation angle. In the first embodiment, a radio wave image in which the height of the terrain has been corrected based on the altitude data will be described as an example. Therefore, the altitude data used in the image correction and the information of the location where the image is corrected are represented by the radio image information. The information can be stored in the management unit 8 and used.
Note that when shooting while the SAR is moving, information on the position coordinates of the SAR during shooting is rarely recorded, and the position coordinates at the start and end of shooting are stored. General. It is assumed that the movement of the SAR performs a constant velocity linear movement between the start and end of shooting, and the position coordinates of the SAR that has captured the radio wave image existing during that time are the shooting start time, end time, and each time. This can be easily calculated using the SAR position coordinates and the SAR speed.
[0015]
The radio wave / map position conversion means 4 is a means for calculating the positions corresponding to each other on the radio wave image and the map using the imaging / reproduction information held by the radio wave image information management means 8. As shown in FIG. 4, the radio wave image is obtained by sequentially photographing by irradiating the surface of the ground with a microwave from a SAR mounted on a moving artificial satellite or an aircraft and receiving the reflected wave. For this radio wave image, the ground position is determined by the platform position at the time of imaging of an artificial satellite or an aircraft equipped with SAR, the irradiation direction of radio waves such as off-nadir angle, and the image reproduction method such as geometric correction at the time of radio wave image generation. The position on the surface can be calculated. The radio wave / map position conversion means 4 uses this calculation to calculate the corresponding position on the map when the position is specified on the radio wave image, and on the other hand, when the position is specified on the map, Calculates the position on the radio wave image.
It should be noted that the coordinate system is often different between the position information of an artificial satellite or an aircraft equipped with the SAR and the position information used in the map. For this reason, the radio wave / map position conversion means 4 can convert the position of the map and the radio wave image in consideration of the difference between the coordinate systems of the information stored in the radio wave image information management means 8 and the map information means 7. ing. In addition, when the irradiation position of the microwave is far from the ground surface such as an artificial satellite, the ground surface is assumed to be a horizontal surface at the observation position of the SAR (radio wave sensor) in consideration of the curvature of the ground surface in addition to the coordinate system. The SAR (radio wave sensor) can be converted to the position on the map when it is done.
[0016]
Here, the positioning means 6 acquires position information indicating the current position at an arbitrary position where the ground truth is performed. The positioning means 6 only needs to be a means capable of acquiring an accurate current position with simple equipment, for example, a commercially available GPS or DGPS (antenna and attached positioning means), or a distance from a base station realized by a mobile phone. Or, a positioning means based on the direction or the like may be used. In the first embodiment, a description will be given of a method of acquiring the current position by using a GPS antenna and an attached positioning unit as the positioning unit 6.
The display means 9 is a means for displaying map data and a radio wave image of a region where the ground truth is to be implemented. The input means 10 is a means for receiving an operation of the user of the apparatus, specifying an arbitrary position on map data or a radio wave image displayed on the display means 9 or inputting height information. Speaking of which, this is a keyboard or mouse.
[0017]
The map information means 7 reads map data of an area including a current position obtained by positioning from map information held in a map information storage device, similarly to a commercially available geographic information system (GIS: Geographic Information System). Means for calculating the coordinates of the current position on the map, and displaying the map data and the coordinates of the current position on the screen of the display means 9. Also, when coordinates of a position are separately given, the position can be similarly displayed on a map. In this case, the display means 9 displays the location on the map corresponding to the coordinates of the current position or the separately given position with a mark or the like. In this case, the display form can be adapted to enlargement / reduction of a map, movement of a display range, and the like. In addition, the map information means 7 includes information such as elevation information, land use data, and landmark building and store names, in addition to information included in general map data such as place names, railroad and road names. You may do so.
[0018]
As a form of the ground truth support device, a terminal which is loaded with a CPU, a memory, and a program for executing a required function, and is preferably portable is preferable. When the amount of data to be handled is large, a memory for storing the data may be provided outside the apparatus so that data can be exchanged by a communication unit. Examples of the ground truth support device include a notebook personal computer, a PDA (Personal Digital Assistants), a wearable PC, a mobile phone, and the like to which the function of the present invention is added. In the first embodiment, like the device 1 illustrated in FIG. 10, the device has a surface provided with a display unit 9 and an input unit 10, and displays a map or a radio wave image on a screen of a touch panel. The description will be made on the assumption that information to be designated can be input at a designated position on a map or a radio wave image.
The terminal control means 5 is a means for instructing and controlling data exchange between each means in the ground truth support apparatus and execution of the operation of each means, and corresponds to processing of a CPU in a computer.
[0019]
The operation procedure of the ground truth support device executed by the control operation of the terminal control means 5 will be described with reference to the flowchart of FIG.
First, at the place where the ground truth is to be performed, the initialization is performed as follows. The positioning means 6 obtains the current position as position information (step ST1), and passes the obtained current position to the map information means 7 and the radio wave / map position conversion means 4 via the terminal control means 5 (step ST2). The map information means 7 reads the received map data of the area corresponding to the current position and calculates the coordinates on the map corresponding to the current position (step ST3). Thereafter, the map data and the coordinates of the current position on the map are passed to the display means 9 via the terminal control means 5 (step ST4). On the other hand, the radio wave / map position converting means 4 refers to the radio wave image and information such as the position coordinates of the SAR at the time of radiography, the irradiation direction of the radio wave, and the irradiation angle from the imaging / reproduction information held by the radio wave image information management means 8. Then, a position on the radio wave image corresponding to the coordinates of the received current position is calculated (step ST5). The radio wave / map position conversion means 4 takes out the corresponding radio wave image and the calculated position information (step ST6), and passes it to the display means 9 via the terminal control means 5 (step ST7). Upon receiving the map data, the radio wave image, and the respective calculation results (current position information) from the map information means 7 and the radio wave / map position conversion means 4, the display means 9 displays the map with the mark added to the current position and the current position. The radio wave image with the mark added at the position corresponding to is displayed, and the initialization is completed (step ST8).
[0020]
FIG. 5 schematically illustrates an example of a radio wave image and a map described so far. FIG. 5 schematically shows a photographing situation in which a sample image is obtained by a SAR mounted on a satellite. ) Is stored in the radio wave image information management means 8 later. FIG. 6 shows a display example in which a mark (x mark) of the current position obtained by the positioning means 6 is added to the map obtained from the map information means 7. FIG. 7 shows a display example in which a mark (x mark) is added to a position corresponding to the current position calculated by the radio wave / map position conversion unit 4 with respect to the radio wave image stored in the radio wave image information management unit 8. .
[0021]
Next, the user of the apparatus uses the input unit 10 to input one point on the radio wave image displayed on the display unit 9 as illustrated in FIG. 9A, for example, one point on an artificial structure (building). Is specified, and the height for that point (star) is input (step ST9). Then, the input unit 10 sends the designated position to the radio wave / map position conversion unit 4 via the terminal control unit 5. The radio wave / map position conversion means 4 calculates the corresponding position coordinates on the map from the received designated position, and uses the radio wave image designation foreshortening correction means (the radio wave image designation four shortening correction means) as the pre-correction position coordinates. ) Hand over to 2. When the pre-correction position coordinates are displayed on the map of the display means 9 by the map information means 7, the positions (star marks) as shown in FIG. 9B are displayed. Here, FIG. 9B is a map before correction. The coordinates shown on the map before correction do not show the exact corresponding position because the radio wave image and the map do not have the same identity at all.
At the same time, the input means 10 passes the information on the designated position and height on the input radio wave image to the radio wave image designation shortening correction means 2 via the terminal control means 5 (step ST10). . The radio wave image designated four shortening correction means 2 performs a correction calculation of the position at the coordinates on the map based on the information of the specified position and height (step ST11). The radio wave image designation four shortening correction means 2 passes the calculation result, that is, the position coordinates before and after correction on the map, to the map information means 7 via the terminal control means 5 (step ST12). The calculation result is sent to the ground truth investigation data recording means 3 together with the position and height information on the radio wave image (step ST13).
[0022]
The map information means 7 recognizes the received position coordinates as the corrected position coordinates, and then requests the display means 9 to add a mark indicating the corrected position coordinates (step ST14). Here, the map information means 7 recognizes the corrected position coordinates, so that the corrected position is correctly displayed even if the map is enlarged or reduced or the display range is changed. In response to a request to add a mark indicating the corrected position from the map information means 7, the display means 9 displays a mark (star) indicating the corrected position coordinates on the corrected map being displayed as shown in FIG. Is added (step ST15). Here, both the post-correction and pre-correction position coordinates may be displayed on the map by specifying a display option or the like.
[0023]
As described in step ST11, the radio wave image-designed four shortening correction means 2 uses a position on the radio wave image (hereinafter, referred to as a “height designation position”) and information on the height of the point on the map. Is calculated, the details of step ST11 will be described with reference to the flowchart of FIG.
First, information on the designated height position from the input means 10 and the height at that point is obtained via the terminal control means 5 (step ST110). Based on these, the position coordinates of the SAR are obtained by referring to the imaging / reproduction information held by the radio wave image information management means 8 (step ST111), and the amount of movement (distance moved on the ground surface: hereinafter referred to as “movement distance”) Is calculated) (step ST112).
FIG. 8 is a diagram for explaining the displacement of the position due to the height. The distance B1 is obtained by calculation from the position (range A: designated position) on the radio wave image, the height (input height) h of the artificial structure, and the position coordinates of the SAR. That is, the distance B1 can be calculated based on a point vertically lowered from the intersection of the circle having the radius of the range A and the height h. In addition, the distance A1 is calculated based on the intersection between the circle having the radius of the range A and the ground surface, and the difference between the distance B1 and the distance A1 is calculated, thereby calculating the travel distance on the ground surface (on a map).
[0024]
Next, the radio wave image designated four shortening correction means 2 obtains the position on the map with respect to the designated height position, that is, the position coordinates before correction from the radio wave / map position conversion means 4 (step ST113). Thereafter, a direction for correcting the position on the map is calculated from the position coordinates of the SAR at the time of measuring the designated height position from the radio wave image information management means 8 and the obtained position coordinates before correction. With reference to the pre-correction position coordinates, coordinates that are separated by the moving distance in the direction calculated here, that is, post-correction position coordinates are obtained (step ST114). When the processing is completed, the radio wave image designation four shortening correction means 2 uses the position coordinates before correction and the position coordinates after correction as processing results via the terminal control means 5 and the map information means 7 and the ground truth investigation data recording means 3 (Step ST115).
[0025]
The ground truth investigation data recording means 3 is a means for recording information obtained during the execution of the ground truth. Here, the position on the radio wave image, the height of the target position, the position coordinates before correction, and the position coordinates after correction are received and stored as a set of data. The ground truth survey data recording means 3 also stores the date and time when these pieces of information are input in a set of data. This is because there is a high possibility that the shooting date and time of the radio wave image held by the radio wave image information management means 8 and the date and time of the ground truth execution are different.
[0026]
In the above example, the height information is input, the position is corrected, and the position on the map is displayed from the position on the radio wave image. Can also be displayed. If this height information is not input, the terminal control means 5 instructs the radio wave / map position conversion means 4 to calculate the position on the map with respect to the position on the radio wave image, and causes the map information means 7 to display the designated position. Tell as. The map information means 7 recognizes the given position on the map as a position corresponding to the radio wave image, and adds a mark indicating the position in the same procedure as in the case of the corrected position so as to add a mark indicating the position. Is displayed.
[0027]
In the above description, an example in which the height is set for one point has been described. However, it is also possible to repeatedly specify and execute a plurality of points. In that case, it can be realized by repeating the same operation as described above. In addition, although an example has been described in which the observation data is not initially stored in the ground truth investigation data recording unit 3 from the initial state, the same operation as described above can be performed even after the observation result is stored. In this case, the radio wave / map position conversion means 4 refers to the ground truth investigation data recording means 3 when a position conversion instruction is issued, and there are coordinates before and after correction for the height of the corresponding place. Transmits the data to the calling means. As a result, at the point where the coordinates before and after the correction for the height are registered, it is possible to always refer to the corrected correct position after the registration.
[0028]
Furthermore, in the above example, when calculating the moving distance on the map by height as shown in FIG. 8, the case where the ground surface is the same horizontal surface has been described, but this is for the sake of simplicity. It is. If the altitude data of the point exists in advance as imaging / reproduction information, the calculation result may be corrected by using the altitude data in consideration of the altitude of the observation area. As the altitude data in this case, it is conceivable to obtain altitude information on site using GPS or the like, or to use commercially available DEM data or the like. In addition, information necessary for correction as imaging / reproduction information of the radio wave image information management means 8 also includes other parameters that affect the calculation result, such as the roundness of the earth in a satellite image and the movement of the airframe in an aircraft. If it is complete, it is possible to correct the calculation result based on that information.
[0029]
As described above, according to the first embodiment, based on the information on the current position obtained from the positioning means, a radio image of the corresponding area is obtained from the imaging / reproduction information, and the corresponding area is obtained from the map information means. The map data is obtained and displayed on the display means. When the input means designates an arbitrary position on the displayed radio wave image, and when the height with respect to the designated position is inputted, the designated position is designated. The position coordinates on the map corresponding to the radio wave image are calculated from the position as pre-correction position coordinates, and the specified position and height, the position coordinates of the radio wave sensor when the radio wave image indicating the specified position is captured, and the correction. Based on the previous position coordinates, the corrected position coordinates are calculated by correcting the deviation due to the height of the designated position with respect to the pre-correction position coordinates, and the calculated corrected position coordinates are displayed on a map. Therefore, it is possible to accurately correspond the position on the radio wave image with the position on the map, especially when conducting an on-site survey with the ground truth of the radio wave image in an urban area with many artificial structures, depending on the height of the structure Since the position on the map in which the influence is automatically corrected can be obtained, an effect that the field survey can be performed more efficiently can be obtained. According to the first embodiment, the designated position, the height for the position, the position coordinates before correction, and the position coordinates after correction are stored together with the input date and time of the specified position and height. Thus, an effect is obtained that the result of the ground truth can be automatically collected so that it can be used later not only as information on a position on a specific map but also as information on a correction example for a certain radio wave image.
[0030]
Embodiment 2 FIG.
FIG. 11 is a block diagram showing a configuration of a ground truth support device according to a second embodiment of the present invention. The same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted in principle. The apparatus according to the second embodiment has a configuration in which a map designation four shortening correction means 11 is provided instead of the radio wave image designation four shortening correction means 2 shown in the first embodiment. The map designation four shortening correction means 11 is means for calculating a correction amount of a position on a radio wave image from information on a position on a map and a height for the point.
[0031]
FIG. 12 is a flowchart showing an operation procedure of the device according to the second embodiment, and FIG. 14 is an explanatory diagram illustrating correction of a position shift on a radio wave image due to height.
The operation of the second embodiment is the same as that of the first embodiment up to the initialization work in step ST8, and thus the description is omitted. After the initialization work is completed, the user of the apparatus specifies one point (star) on an artificial structure such as a building on a map as shown in FIG. The height for that point is input (step ST29). Then, the input means 10 transmits the input information of the designated position and the height on the map to the map designation four shortening correction means 11 via the terminal control means 5 (step ST30). Based on the received information on the designated position and the height on the map, the map designation four shortening correction means 11 performs a correction calculation of the position on the corresponding radio wave image (step ST31). The map designation four shortening correction means 11 passes the calculated result position on the radio wave image before and after correction to the display means 9 via the terminal control means 5, and places a mark indicating the corrected position on the displayed radio wave image. A request is made to add (step ST32). The display unit 9 adds a mark indicating the corrected position on the radio wave image (step ST34). That is, the radio wave image of FIG. 14B before correction is displayed like the radio wave image of FIG. 14C after correction. At this time, by specifying a display option or the like, both the position after the correction and the position before the correction may be displayed on the same radio wave image.
[0032]
On the other hand, the map designation four shortening correction means 11 also transmits the calculation result (the position on the radio wave image before and after the correction) to the radio wave image information management means 8 via the terminal control means 5, and outputs the ground truth investigation data recording means. 3, the calculation result is transmitted together with the position and height information on the map (step ST33).
The radio wave image information management means 8 records the corresponding position information as the corrected position. This means that, for example, when redisplay is performed after the display range of the image is changed, the corrected position information is continued by passing the corrected position information to the display means 9 together with the radio wave image data. This is to enable display. In the ground truth survey data recording unit 3, similarly to the first embodiment, information on the position and height designated on the map received via the terminal control unit 5, and on the radio wave image before and after correction The position is stored as a set of data together with the input date and time of the specified position and height.
[0033]
As described in step ST31, the map designation four shortening correction means 11 obtains a position on the radio wave image from the position on the map (hereinafter, referred to as “height designation coordinates”) and the height information for the point. The position correction amount is calculated. Details of this operation will be described with reference to the flowchart of FIG.
First, when the height designation coordinates and height information are received from the input means 10 (step ST130), the case where the height is not corrected using the radio wave / map position conversion means 4 based on the height designation coordinates is used. (Hereinafter referred to as “position before radio wave image correction”) on the radio wave image (step ST131). In the example of FIG. 8, this corresponds to obtaining the range B from the distance B1. Next, the position of the SAR at the time of imaging is determined by referring to the imaging / reproduction information held by the electromagnetic wave image information management means 8 from the information on the position before the electromagnetic wave image correction (step ST132). Thereafter, a distance traveled on the radio wave image (hereinafter, referred to as “range moving distance”) is calculated from the SAR position, the radio wave image pre-correction position, and the height information (step ST133). In the example illustrated in FIG. 8, first, a distance between a point that has risen vertically by the height h1 from a position before radio wave image correction corresponding to the distance B1 and the position of the SAR is determined as the range A. Next, a difference between the range A and the range B is calculated. This difference is the range movement distance. After calculating the range moving distance, a position moved from the position before the radio wave image correction by the range moving distance in the range direction, ie, a direction close to the SAR, is calculated as the position after the radio wave image correction (step ST134). Thereafter, the position before the radio wave image correction and the position after the radio wave image correction are output to the display means 9, the radio wave image information management means 8 and the ground truth investigation data recording means 3 (step ST135).
[0034]
As in the first embodiment, when a height is not input for a position on a map, a position on a radio wave image for which height correction is not performed can be displayed. In this case, the terminal control means 5 instructs the radio wave / map position conversion means 4 to calculate the position on the radio wave image with respect to the position on the map, and instructs the display means 9 to display. As in the case of height correction, information on the display position is registered in the radio wave image information management means 8, and when a radio wave image is required, data is extracted from the radio wave image information management means 8 and transmitted to the display means 9. hand over.
[0035]
In the above description, an example in which the height is set for one point has been described. However, similarly to the first embodiment, it is also possible to repeatedly specify and execute a plurality of points. In addition, although an example has been described in which the observation data is not initially stored in the ground truth investigation data recording unit 3 from the initial state, the same operation as described above can be performed even after the observation result is stored. In this case, as in the first embodiment, the radio wave / map position conversion means 4 refers to the ground truth survey data recording means 3 and, at the point where the coordinates before and after the height correction are registered, the correction is performed. Always refer to the correct position. Further, as shown in FIG. 8, the case where the ground surface is the same horizontal surface has been described. However, similar to the first embodiment, the present invention can be applied even when the same horizontal surface is not assumed. In addition, it is possible to correct the calculation result for other parameters that affect the calculation result, such as the roundness of the earth in a satellite image and the movement of the airframe in an aircraft.
[0036]
As described above, according to the second embodiment, the map data of the corresponding area is obtained from the map information based on the information on the current position obtained from the positioning means, and the radio wave image of the corresponding area is obtained from the imaging / reproduction information. When the position information and the height information are specified and input on the displayed map by the input means, the position on the radio wave image corresponding to the specified position coordinate is obtained by the radio wave. The position of the radio wave sensor at the time of imaging obtained from the imaging / reproduction information based on the position before radio wave image correction, the position on the radio wave image using the position before radio wave image correction and the height based on the position before radio wave image correction The position after the radio wave image correction is calculated by correcting the displacement due to the height of the radio wave, the position before the radio wave image correction and the position after the radio wave image correction are displayed on the radio wave image, and the position and the height specified on the map are specified. The radio wave image The front position and the position after radio wave image correction are saved together with the input date and time of the specified position and height, so when conducting a field survey with ground truth in an urban area with many artificial structures, the radio wave image And the position on the map can be made to correspond to the position on the map, and the position on the radio wave image automatically corrected for the influence of the height of the structure can be obtained. The effect is that the result of the truth can be automatically collected for later use.
[0037]
Embodiment 3 FIG.
FIG. 15 is a block diagram showing a configuration of a ground truth supporting device according to a third embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 or FIG. Omitted. The apparatus according to the third embodiment has a configuration in which the map designation four shortening correcting means 11 described in the second embodiment is added to the configuration of the first embodiment.
The device according to the third embodiment operates according to the procedure described in the flowchart of FIG. 2 when a position and its height are designated on a radio wave image by the input means 10, while the position coordinates and its position are represented on a map. When the height is specified, the operation is performed according to the procedure described in the flowchart of FIG. In both cases, the steps are common until the completion of the initialization work, and the subsequent operation steps are selected and executed according to the input instruction.
[0038]
As described above, according to the third embodiment, when the height information is input to an arbitrary point on the radio wave image, and when the height information is input to an arbitrary point on the map. At both the time and the time, an appropriate correction position on the radio wave image and the map is calculated and displayed using the imaging information and the like held in the apparatus. The effect can be obtained, and the effect that the field survey by the ground truth can be performed more efficiently can be obtained.
[0039]
Embodiment 4 FIG.
FIG. 16 is a block diagram showing a configuration of a ground truth support device according to a fourth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. The apparatus according to the fourth embodiment has a configuration in which an area designating unit 12 is added to the first embodiment. FIG. 17 is an explanatory diagram showing an outline of position correction based on height information specifying an area according to the fourth embodiment.
[0040]
Here, the user of the apparatus uses the display means 9 and the input means 10 to specify a polygonal area on the radio wave image as shown in FIG. 17A, and inputs the height of the area. Information on the defined polygon (information on vertices and sides) is recorded in the area designating unit 12. The area specifying means 12 receives the radio wave / map position converting means 4 and the radio wave image specifying four shortening correcting means 2 via the terminal control means 5 so as to obtain each corrected position (corrected position coordinates) on the map for each vertex of the polygon. And so on. The terminal control means 5 and each means called therefrom obtain the corrected position on the map for each vertex in the same procedure as in the first embodiment. However, the obtained result is not directly displayed on the display means 9 but is passed to the area specifying means 12 once. The area designation means 12 internally calculates and records a polygon having the calculated correction position on the map as a vertex. In this case, the calculated polygon is a polygon whose height has been corrected. Thereafter, the display unit 9 is instructed to display the polygon whose height has been corrected on the map. The display means 9 displays a corrected polygon corresponding to the area of the polygon and the range on the radio wave image whose height is designated, as shown in FIG. 17C.
[0041]
In the description of the above example, an area and its height are designated and input on the radio wave image and the area whose height has been corrected is displayed on the corresponding map. May be applied to the second or third embodiment, a region and a height are designated and input on a map, and a region whose height has been corrected is displayed on a radio wave image.
In the above description, an example in which the correction for the polygon is obtained at the vertices has been described. However, several points are selected from the sides of the polygon, the positions are corrected for the points, and as a result, the target to be displayed is displayed. You may make it display as a curve which complemented the side of the polygon. In that case, the correction area for the polygon can be displayed more accurately.
[0042]
As described above, according to the fourth embodiment, when a region specified on a displayed radio wave image or a map and the height of the region are input, a plurality of points on the outer periphery forming the region are input. The correction position on the map or the radio wave image for the position is calculated, and the corrected position on the map or the radio wave image that is calculated is generated as a plurality of points, and an area whose height is corrected is generated. Since the area is displayed on the corresponding map or radio wave image, polygonal areas in urban areas where there are many artificial structures such as buildings that are often displayed as polygonal areas on the image By automatically performing the position correction in the area, an effect that the field survey by the ground truth in the area can be efficiently performed can be obtained.
[0043]
Embodiment 5 FIG.
The information to be recorded in the ground truth survey data recording means 3 is basically the position information of the target point, the information of the height of the point, and the date and time of the survey in which the input was performed, as described in the first embodiment. Recorded automatically. On the other hand, it is necessary to go to the site and perform ground truth to clarify what was reflected at the target point (the identity of the scattering point). Therefore, since the information entered in the field survey is also recorded in correspondence with it, it becomes important data for subsequent analysis and interpretation support of radio wave images. Required. Embodiment 5 addresses this problem.
[0044]
FIG. 18 is a block diagram showing a configuration of a ground truth support device according to a fifth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The apparatus according to the fifth embodiment has a configuration in which the database item setting means 13 is added to the first embodiment. The database item setting means 13 is a means for presetting and holding a category of information to be recorded in the ground truth investigation data recording means 3.
As the category of the information to be recorded, types of artificial structures such as buildings and steel towers, construction conditions during construction and demolition, and local conditions such as landslides, river flooding and flooding, and the like can be considered. This category may be set in advance by using information in an image database when analyzing and reading radio wave images. Further, the database item setting means 13 may be configured so that a category can be added on site.
[0045]
In the database item setting means 13, a category indicating the type of observation information such as a radio wave image is set and held. At the time of recording, the ground truth investigation data recording means 3 refers to the database item setting means 13 via the terminal control means 5 and selects a category as a data recording destination from the set categories. The ground truth survey data recording unit 3 combines the data to be recorded calculated from the conditions specified on the radio wave image or the map as described in the first and second embodiments with the selected category and stores the data in the corresponding memory. To record. By doing so, it is possible to retrieve and use the radio wave image by category when analyzing and reading the radio wave image at a later date.
[0046]
As described above, according to the fifth embodiment, the category indicating the type of radio wave image and the like is set, and the category to which the data is to be recorded is changed from the category set when recording the data obtained by the ground truth. Select and record the data to be recorded calculated from the conditions specified on the radio wave image or map on the recording destination of the selected category, so that the search results can be searched by category such as the type of radio wave image Thus, for example, in the case where it is not possible to actually go to the site, an effect is obtained in which the past recorded result of the ground truth can be used when analyzing the radio wave image of the place.
Although the fifth embodiment has been described with reference to the example of the first embodiment, the database item setting unit 13 may be applied to each of the second to fourth embodiments, and the same effect can be obtained. it can.
[0047]
Embodiment 6 FIG.
FIG. 19 is a block diagram showing a configuration of a ground truth support device according to a sixth embodiment of the present invention. In the figure, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The apparatus according to the sixth embodiment has a configuration obtained by adding a survey report recording unit 14 to the apparatus according to the first embodiment. The survey report recording unit 14 records the ground truth survey data by linking the contents of the local survey with the map and the position of the radio image and the photographing information of the radio image by inputting the contents of the survey by designating the position of the map or the radio image. This is a means for recording in the means 3.
[0048]
After the user of the device selects an arbitrary point or area of the map or the radiographic image using the display means 9 and the input means 10 such as a keyboard at the site of the survey activity, a report of the result of the field survey is displayed. Write to the SAR ground truth support device as text. In such a case, the survey report recording unit 14 receives the report via the terminal control unit 5. Next, information of the corresponding map and radio wave image is obtained via the terminal control means 5 using the map information means 7, the radio wave image information management means 8 and the radio wave / map position conversion means 4, and the input report is obtained. The data is recorded in the ground truth investigation data recording means 3 in association with the data to be recorded, such as the position of the map and the radio wave image and the photographing information of the radio wave image.
[0049]
As described above, according to the sixth embodiment, if an arbitrary position or area on a radio wave image or a map is input, and then a report of the result of the field survey is input as text or the like, the report Is recorded in association with the data to be recorded, such as the calculated map or radio wave image location and radio wave image shooting information, so that a survey report can be created based on realistic information, and use at a later date will be effective. The effect to be obtained is obtained.
Although the sixth embodiment has been described with reference to the example of the first embodiment, the survey report recording unit 14 may be applied to the second to fifth embodiments, and the same effects can be obtained. .
[0050]
Embodiment 7 FIG.
FIG. 20 is a block diagram showing a configuration of a ground truth support device according to a seventh embodiment of the present invention. In the figure, the same or corresponding parts as in FIG. The device according to the seventh embodiment has a configuration obtained by adding the optical information recording means 15 to the first embodiment. The optical information recording means 15 operates in conjunction with an optical information device such as a digital camera or a video camera, fetches image information obtained from the optical information device, and uses a map or a radio wave image to be used on this device. This is a means for recording in the ground truth investigation data recording means 3 in association with information obtained from the photographing position and photographing direction of the optical image input above.
[0051]
In order to connect to an optical information device such as a digital camera or a video camera, an interface capable of obtaining image information from the optical information device (hereinafter, referred to as an “optical input interface”) as a part of the optical information recording unit 15. Provide. As the optical input interface, for example, a connector of a wired cable such as a USB (Universal Serial Bus) or a transmission / reception facility of a wireless interface such as an infrared ray can be considered. In addition, a facility for reading and writing a medium for exchanging data via a medium such as CompactFlash (registered trademark) or smart media is also conceivable. Here, an optical input interface having a function of obtaining data captured by an optical information device and obtaining information such as a shooting date and time may be used, but is used to connect a personal computer to a device such as a digital camera or a digital video. If a general interface is used, the versatility of the optical information recording means 15 can be improved.
[0052]
The optical information recording means 15 captures an optical image such as a photograph from an optical information device such as a camera via the above-mentioned optical input interface, and records the information as ground survey information in the ground truth investigation data recording means 3 via the terminal control means 5. Let it. Here, if the used optical information equipment can provide information on the photographing date and time and the photographing place, the optical information recording unit 15 obtains such photographing information via the optical input interface, and acquires the photographing information together with the optical image. You may make it record on the ground truth investigation data recording means 3. The optical information recording unit 15 operates in cooperation with the display unit 9 and the input unit 10 via the terminal control unit 5 so that the user of the apparatus can display the optical image on the displayed map or radio wave image. It provides a screen interface that allows the user to input the shooting position and shooting direction of the camera. As described in the first and second embodiments, the optical information recording unit 15 stores information on a map or a radio wave image obtained from the photographing position or photographing direction of the optical image input here. Is recorded in the ground truth investigation data recording means 3 together with the captured optical image.
[0053]
As described above, according to the seventh embodiment, the optical information device is connected to and operates in cooperation with the optical information device, and the image information obtained from the optical information device and the map or radio wave image used on the device are used. Since the information obtained from the shooting position and shooting direction of the input optical image is recorded in association with it, it is possible to attach the optical image to the radio image data that is difficult to intuitively understand. The effect of facilitating analysis and interpretation in remote sensing using is obtained.
Although the seventh embodiment has been described with reference to the example of the first embodiment, the optical information recording unit 15 may be applied to the second to sixth embodiments, and the same effects can be obtained. .
[0054]
Embodiment 8 FIG.
FIG. 21 is a block diagram showing a configuration of a ground truth support device according to an eighth embodiment of the present invention. In the figure, the same or corresponding parts as in FIG. The apparatus according to the eighth embodiment has a configuration in which the reflection intensity / height recording means 16 is added to the first embodiment. The reflection intensity / height recording means 16 is connected to a device for observing the reflection intensity and height of the radio wave of the observation object, obtains the position information of the observation object from a map or a radio wave image on this device, This is a means for associating and recording the height of an object or the reflection intensity of a radio wave with its position information.
[0055]
The reflection intensity / height recording means 16 is provided with an interface (hereinafter, observation device input interface) for connecting to a device for observing the reflection intensity and height of the radio wave of the observation target. Here, any interface can be selected as long as it is an interface that can obtain information from a device that observes the height of the observation target and the reflection intensity of radio waves. Similar to the optical information recording means 15 described in the seventh embodiment, it is conceivable to employ a general interface or the like widely used in a personal computer such as a USB. In this case, the reflection intensity / height recording means 16 is used. Versatility.
[0056]
The reflection intensity / height recording means 16 operates in cooperation with the display means 9 and the input means 10 via the terminal control means 5 so that the user of the apparatus can respond to the information of the observation target obtained from the observation equipment. A screen interface for designating the position of an observation target on a map or a radio wave image displayed on the apparatus. The reflection intensity / height recording unit 16 captures observation information of the height of the observation target and the reflection intensity of the radio wave from the observation equipment. At this time, the user of the device inputs the observation position and the observation direction on a map or a radio wave image. Thus, as described in the first and second embodiments, the input position is displayed on a map or a radio wave image, and the position information is converted into data. The reflection intensity / height recording means 16 associates the input observation position and observation direction with the observation information and records the information in the ground truth investigation data recording means 3 via the terminal control means 5.
[0057]
In addition, the reflection intensity / height recording means 16 performs, for observation, the frequency, modulation, polarization, etc., of the radio wave to be measured from the imaging / reproduction information held by the radio wave image information management means 8 at the time of radio wave image imaging. Are extracted, and the appropriate reflection intensity measurement condition at the designated position of the observation target is calculated. Thereafter, if the measuring instrument that measures the reflection intensity of the radio wave can be directly controlled, the measuring device is controlled via the observation device input interface so as to measure the reflection intensity under the calculated measurement conditions. On the other hand, if direct control is not possible, the calculated measurement conditions are displayed on the display means 9 via the terminal control means 5, and information for setting is provided to the user of the measuring device.
[0058]
As described above, according to the eighth embodiment, information on the height of the observation object and the reflection intensity of the radio wave observed by the observation device is taken in by connecting to the observation device, and the information is displayed on the displayed radio wave image or on the map. Since it is recorded in association with the information on the position and observation direction of the observation object input above, the reflection intensity of radio waves and height information of structures, which are the major factors that change radio wave image data, are automatically recorded. Since it is possible to obtain and record the data, it is possible to obtain an effect that the field survey can be efficiently performed. In addition, during observation, parameters such as the frequency, modulation, and polarization of the radio wave to be measured from the imaging / reproduction information to measure the reflection intensity at the time of imaging of the radio wave image are extracted, and the appropriate reflection intensity at the position of the specified observation target is obtained. Since the measurement conditions are calculated and presented, the convenience of automatically setting the measurement conditions on the observation equipment or manually setting them can be provided, and the effect that the field survey can be performed more efficiently can be obtained. .
Although the eighth embodiment has been described with reference to the example of the first embodiment, the reflection intensity / height recording unit 16 may be applied to the second to seventh embodiments. The effect can be achieved.
[0059]
Embodiment 9 FIG.
FIG. 23 is an explanatory diagram schematically showing an observation situation according to the ninth embodiment. As shown in the two cases of FIGS. 23A and 23B, there are a reflector having a height like a building and a reflector having almost no height. If there are scattered points of a plurality of heights at a designated position on the map, they appear on the radio wave image as scattered point data at one point designated by the user. This is because reflected waves from a plurality of scattering points appear as a sum. Therefore, when the building of FIG. 23A and the reflector having a height of 0 in FIG. 23B are present at the same time, the scattered wave from the roof of the building and the reflector from the reflector having a height of 0 are present. The scattered wave appears as data of one point on the radio wave image. This is because, for different heights, the distances from the SAR to both are equal and in the same direction as viewed from the SAR, in which case the scattering points at different locations on the map are: It appears at the same position on the radio wave image. As a result, there arises a problem that it becomes difficult to narrow down a candidate for an object with respect to a certain scattering point on a radio wave image. In such a case, if a position on the map can be displayed for each scattering point on the radio wave image by height, an object for the scattering point can be easily specified by an on-site survey. The ninth embodiment provides a means for realizing such a demand.
[0060]
FIG. 22 is a block diagram showing a configuration of a ground truth supporting device according to a ninth embodiment of the present invention. In the drawing, the same or corresponding parts as in FIG. The device according to the ninth embodiment has a configuration obtained by adding a radio wave image designated position candidate enumeration unit 17 to the first embodiment. When a height range is set for a designated point on the radio wave image, the radio wave image designated position candidate enumeration means 17 instructs each means on corrected position coordinates corresponding to the set height range. This is a means for displaying the corrected position coordinates for each height on a map.
[0061]
Here, it is assumed that the user of the device can specify and input a range of height with respect to the point after specifying one point on the radio wave image using the display means 9 and the input means 10. The height range can be any range including a negative number. In the ninth embodiment, an example in which 0 m to 50 m is specified will be described.
Information on the designated height range and the location on the radio wave image is recorded in the radio wave image specified position candidate enumeration means 17. The radio wave image designated position candidate enumeration unit 17 instructs the terminal control unit 5 to sequentially obtain the correction position on the map for the height of the designated range. Here, for example, it is instructed to sequentially obtain the correction positions on the map for the respective heights of 0 m, 10 m, 20 m, 30 m, 40 m, and 50 m. The designated means, that is, the radio wave image information management means 8, the radio wave / map position conversion means 4, the radio wave image designation four shortening correction means 2, the map information means 7 and the like are provided in the same procedure as in the first embodiment. Is calculated on the map after the correction. However, the calculation result is not directly displayed on the display means 9 but is once passed to the radio wave image designated position candidate enumeration means 17. Based on the calculated corrected position coordinates, the radio wave image designated position candidate listing means 17 instructs the display means 9 via the terminal control means 5 to display the corrected position coordinates for each height on the map.
[0062]
The situation at this time will be described with reference to FIG. In FIG. 24A, when a height range is designated for a designated point (star) on the radio wave image, as a result of the processing, the height range is corresponded as shown in FIG. 24B. Each position is displayed on the map.
FIG. 24B shows the position of the object appearing at the position of the star mark in the radio wave image of FIG. For example, in the case of an object having a height of 0 m, the target object is located at the left end (lightest part) of the grade bar. If the object has a height of 25 m, the target object is located at an intermediate position between the grade bars. Further, if the object has a height of 50 m, the target object is located at the left end (darkest portion) of the grade bar. In any of these three cases, the radio wave image appears as a scattering point at the position of the star mark, so the observer refers to the target image while referring to the map screen as shown in FIG. We will look at the location and the altitude of the object at that location, and find out what is the scattering point on site.
In the above description, the interval for obtaining the correction position coordinates is set in units of 10 m, but this interval may be arbitrarily selected. Also, an example in which the corrected position coordinates are simply displayed after the corrected position coordinates are obtained has been described. However, by performing appropriate interpolation on the position on the map calculated for each interval, the corrected position coordinates can be more smoothly changed. Also, it may be displayed accurately.
[0063]
As described above, according to Embodiment 9, when a height range is set for a point designated on a radio wave image, corrected position coordinates corresponding to the set height range are respectively set. After calculating and displaying the corrected position coordinates corresponding to each height on the map, the information is different on the map, the position is different and the height is different, but the information that appears as one point on the radio wave image is displayed. In fact, it can be recognized that the information is the sum of the reflected waves from multiple scattering points, and on-site surveys make it easy to identify the target for the scattering points. Since it is possible to determine the map area overlapping as the point data, an effect that the field survey can be performed efficiently can be obtained.
Although the ninth embodiment has been described with reference to the example of the first embodiment, the radio wave image designated position candidate enumeration unit 17 may be applied to the third to eighth embodiments. The effect can be achieved.
[0064]
Embodiment 10 FIG.
FIG. 25 is a block diagram showing a configuration of a ground truth support device according to a tenth embodiment of the present invention. In the figure, the same or corresponding parts as in FIG. The apparatus according to the tenth embodiment has a configuration in which a map designation position candidate enumeration unit 18 is added to the second embodiment. When a height range is set for a position specified on the map, the map designation position candidate enumeration means 18 causes the radio wave image corrected position corresponding to the set height range to be calculated, and This is a means for displaying the position after radio wave image correction corresponding to the height on the radio wave image.
[0065]
It is assumed that the user of the apparatus can use the display means 9 and the input means 10 to designate one point on the map, and then input the height range for that point. Here, an arbitrary range including a negative number can be specified, but an example in which 0 m to 50 m is specified will be described. The information of the designated height range and the point on the map is recorded in the map designated position candidate listing means 18. The radio wave image designated position candidate enumeration means 17 instructs the terminal control means 5 to sequentially obtain the respective correction positions (positions after the radio wave image correction) on the radio wave image with respect to the height of the designated range. Here, for example, it is instructed to obtain the correction positions on the map for the respective heights of 0 m, 10 m, 20 m, 30 m, 40 m, and 50 m. Each of the called units, that is, the radio wave image information management unit 8, the radio wave / map position conversion unit 4, the map designation four shortening correction unit 11, the map information unit 7, and the like are operated in the same procedure as in the second embodiment, for each height. The respective corrected positions of the radio wave image on the radio wave image are calculated. However, the calculation result is not directly displayed on the display means 9 but is once passed to the map designated position candidate enumeration means 18. Next, the map designated position candidate enumeration means 18 causes the terminal control means 5 to display the corrected radio wave image position on the radio wave image corresponding to each height based on the calculated radio wave image corrected position. An instruction is given to the display means 9 via the interface.
[0066]
FIG. 26 illustrates the situation at this time. When a height range is designated for one point (star) designated on the map of FIG. 26A, as a result of the processing, as shown in FIG. The respective positions after the radio wave image correction corresponding to the range of the distance are displayed.
FIG. 26B shows the positions of the star-marked object at the position on the map in FIG. 26A on the radio wave image according to the height of the object. For example, if a position at a height of 0 m is imaged as a scattering point, the scattering point is at the right end (the lightest part) of the grade bar. If the object has a height of 25 m, the target object is located at an intermediate position between the grade bars. Further, if the object has a height of 50 m, the target object is located at the left end (darkest portion) of the grade bar. The observer determines which height of the target object is shown as a scattering point with reference to a radio wave image as shown in FIG. 26B on which a grade bar is displayed. That is, around that altitude, a reflector that is likely to be a scattering point is searched.
In the above description, the interval for obtaining the position after the radio wave image correction is set in units of 10 m, but this interval may be arbitrarily selected. Also, an example has been described in which the position after the radio wave image correction is obtained and then simply displayed. However, by appropriately complementing the position on the radio wave image calculated at each interval, the position after the radio wave image correction is calculated. May be displayed more smoothly and accurately.
[0067]
As described above, according to the tenth embodiment, when a height range is set for a point specified on a map, the positions after radio wave image correction corresponding to the set height range are respectively set. Calculated and the position after radio wave image correction corresponding to each height is displayed on the radio wave image, so radio waves are scattered on the target structure etc. on the map during the survey activity Even when the height is unknown, it is possible to easily estimate the position of the structure on the radio wave image, and an effect that the field survey can be performed efficiently can be obtained.
Although the tenth embodiment has been described with reference to the example of the second embodiment, the map designation position candidate enumeration unit 18 may be applied to the third embodiment, and the fourth to fourth embodiments may be applied. In the ninth aspect, the present invention may be applied in addition to the map designation four shortening correcting means 11, and the same effects as those described above can be obtained.
Further, in the tenth embodiment, as an example of the method of setting the height of the designated range on the map, the display means 9 and the input means 10 are used. Information may be used. Some commercially available map information holds height and shape information in addition to the position of the structure as three-dimensional data, but there is no information as to which position of the structure reflects the radio wave. Here, the map information means 7 holds height and shape information in addition to the position of the structure as map information, and refers to this information and designates the information by the display means 9 and the input means 10. By extracting and using the same information, the same effect as described above can be obtained.
[0068]
Embodiment 11 FIG.
FIG. 27 is a block diagram showing a configuration of a ground truth support device according to an eleventh embodiment of the present invention. In the drawing, the same or corresponding parts as in FIG. The configuration different from the first embodiment is that a reflection position / altitude estimating unit 19 is provided instead of the radio wave image designation four shortening correcting unit 2. The reflection position altitude estimating means 19 is means for calculating the height of the target point by specifying the position on the map and the radio wave image for the certain target point.
[0069]
FIG. 28 is a flowchart showing an operation procedure of the apparatus according to the eleventh embodiment, and FIG. 31 is an explanatory diagram showing an outline of a height obtaining procedure according to the eleventh embodiment.
The operation of the apparatus is the same as in the first and second embodiments up to the initialization work in step ST8. Next, in the eleventh embodiment, as shown in FIG. 31 (b), the user of the apparatus displays one point (x mark) on the map displayed on the display means 9 and the point shown in FIG. 31 (a). In this way, one point (star mark) on the radio wave image is designated, and an instruction is given to obtain the height for that point (step ST59). The input means 10 reflects the input position on the map (hereinafter referred to as “map coordinates”) and the position on the radio wave image (hereinafter referred to as “reflection point”) via the terminal control means 5. This is transmitted to the position / altitude estimating means 19 (step ST60). The reflection position altitude estimating means 19 calculates the height at the target point (hereinafter referred to as “reflection altitude”) based on the received map coordinates and the reflection points (step ST61).
[0070]
The reflection position altitude estimating means 19 sends the calculated reflection altitude to the display means 9 via the terminal control means 5 for displaying (step ST62), and the display means 9 displays the received reflection altitude (step ST64). In this case, the display may be performed on the screen in a format such as “reflection altitude ○ m”, and any of a map and a radio wave image may be displayed. At the same time, the calculated reflection height is transmitted to the ground truth survey data recording means 3 together with the map coordinates and the reflection points (step ST63). The ground truth survey data recording means 3 transmits the received reflection height, map coordinates and reflection points. Store as a set of data.
[0071]
As described in step ST61, the reflection position altitude estimating means 19 calculates the height of a point by designating the position on the map and the radio wave image for the point. This is shown in the flowchart of FIG.
When the map coordinates and the reflection points are input (step ST160), a position having a height of 0 in the map coordinates (hereinafter referred to as “altitude 0 point”) is determined using the radio wave / map position conversion means 4 based on the map coordinates. ) Is calculated (step ST161). Next, the height of the target point (the height of the position where the radio wave is reflected by the target structure, hereinafter referred to as “reflection height”) is calculated from the zero point and the reflection point (step ST162). . Finally, the calculated reflection altitude is output to terminal control means 5 (step ST163).
[0072]
FIG. 30 is an explanatory diagram showing an example of a method for obtaining a height according to the eleventh embodiment. In this example, an altitude 0 point is obtained based on the map coordinates (the distance between the SAR and the position on the map). Next, based on the reflection points, the position (including height) of the SAR at the time of observation and the distance range A of the target point₀Ask for. After that, a line segment perpendicular to the ground at an altitude of 0 point and a radius around the SAR and a distance range A₀Find the intersection of the circles Since this intersection reflects a radio wave, the distance H between the intersection and the altitude 0 point is calculated as the reflection altitude.
Here, the radius around the SAR is the distance range A₀  The intersection of the circle with the ground surface is a position on the map where altitude correction is not performed on the reflection point. For convenience of explanation, this intersection is denoted by K. Also, let L be the intersection of a straight line that is vertically dropped from the SAR to the ground surface, that is, the horizontal plane at an altitude of 0. In the right triangle connecting SAR, K and L, the distance between K and L is the distance on the map between SAR and L, and the distance between SAR and K is A₀  , The distance p between the SAR and L can be calculated from this. Also, the intersection of a straight line connecting SAR and L and a perpendicular from the reflection point lowered to this straight line is defined as M. Here, in a right triangle connecting SAR, the reflection point and M, the distance between the SAR and the reflection point is A₀  , The distance between the reflection point and M is known as the distance on the map between the SAR and the zero point. From this, the distance q between SAR and M can be calculated. Since H = p−q, the reflection height H can be calculated from p and q.
[0073]
As described above, according to the eleventh embodiment, when a point reflecting a radio wave is specified on the displayed map and the radio wave image, the altitude is displayed on the map of the point reflecting the radio wave. The point of zero is obtained, the SAR (height and position coordinates) at the time of observation and the distance range of the point reflecting the radio wave are obtained, and the height of the point reflecting the radio wave is determined based on the point of altitude 0 and the distance range. This is calculated and displayed, so the structure to be reflected, such as a steel tower, is clear, but this method is applied when it is unknown at which height of the structure the radio wave is reflected. The position where the radio wave of the structure is reflected can be easily recognized, and the effect that the field investigation by the ground truth can be performed more efficiently can be obtained. In addition, the calculated height of the target point, the position coordinates on the specified map, and the position on the specified radio wave image are stored, so that the data can be automatically collected for later use. The effect is obtained.
In addition, the reflection position altitude estimating means 19 may be applied in addition to the configuration of the first to tenth embodiments, and the same effects as described above can be obtained.
[0074]
Embodiment 12 FIG.
FIG. 32 is a block diagram showing a configuration of a ground truth support device according to a twelfth embodiment of the present invention. In the drawing, the same or corresponding portions as in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The apparatus according to the twelfth embodiment has a configuration obtained by adding a map shadow area calculating means (shadow area calculating means) 20 to the first embodiment. The map shadow area calculation means 20 is a means for calculating, from the designated position and height information, an area on the map which is a shadow of the radio wave from the SAR (not visible from the SAR) and its height.
[0075]
First, the user of the apparatus uses the display means 9 and the input means 10 to display the position of a reference point for measuring the shadow of the radio wave on the displayed map or radio wave image (hereinafter referred to as a “shadow reference position”). ) And its height (hereinafter referred to as “shadow reference height”). For the sake of explanation, a shadow reference position on a map is referred to as a map shadow reference position, and a shadow reference position on a radio wave image is referred to as a radio shadow reference position. The map shadow area calculation means 20 receives information on the shadow reference position and the shadow reference height via the terminal control means 5. The map shadow area calculation means 20 obtains the map shadow reference position calculated by the radio wave / map position conversion means 4 when the shadow reference position is specified on the radio wave image (that is, when it is the radio wave shadow reference position). On the other hand, when the shadow reference position is designated on the map, the radio wave / map position conversion means 4 similarly obtains the radio shadow reference position.
[0076]
The following processing is performed in the map shadow area calculation means 20. Via the terminal control means 5, the position and altitude of the SAR at the time of shooting the shadow reference position are obtained from the imaging / reproduction information of the radio wave image information management means 8 based on the radio wave shadow reference position. From the obtained position and altitude of the SAR, and the map shadow reference position and the shadow reference altitude, an area on the map which is a shadow of the radio wave from the SAR and its height are calculated. Here, assuming that the radio wave travels straight, a shadow area and its height are calculated. Finally, the calculated shadow area of the radio wave and its height are sent to the display means 9 via the terminal control means 5 so as to be displayed on the map on the screen.
[0077]
FIG. 33 is a diagram illustrating an outline of an operation according to the twelfth embodiment. In a situation where a shadow area occurs as shown in FIG. 33 (c), a map shadow reference position (reflection position) and a shadow reference height are designated as shown in FIG. 33 (a). As a result of the processing, a range below the range altitude (m) that is a shadow is displayed on the map in FIG. 33B corresponding to the map shadow reference position in FIG. The grade bar indicates the position and altitude where the shadow will appear on the map. Here, it means that when the height of the object becomes equal to or less than the display at the target position, the object enters the shadow of the radio wave. For example, at the position of the left end of the grade bar (the darkest part), an object having a height of 50 m or less enters a shadow. In addition, it means that an object having a height of 25 m or less enters the shadow at the center position of the grade bar.
In the above description, an example of calculating the shadow area and its height assuming that the radio wave travels straight has been described. However, the shadow area and its height may be calculated in consideration of radio wave diffraction. The height may be calculated, and in that case, the shadow area and its height can be calculated more accurately.
[0078]
As described above, according to the twelfth embodiment, when the position and the height are specified on the displayed map or the radio wave image, the position specified from the imaging / reproduction information based on the position on the radio wave image Obtain the position and altitude of the SAR at the time of capturing the image, and, based on the obtained position and altitude of the SAR and the position and height on the specified map, the area on the map that is a shadow of the radio wave from the SAR and its area. The height is calculated and displayed, so even if there is a part that is not reflected in the radio wave image as a shadow of radio waves due to surrounding buildings etc. during the survey activity, it is easy to recognize that part And the effect of improving the efficiency of the on-site investigation work can be obtained.
Although the twelfth embodiment has been described with reference to the example of the first embodiment, the map shadow area calculating means 20 may be applied to the second to eleventh embodiments, and the same effect as described above can be obtained. Can play.
[0079]
Embodiment 13 FIG.
FIG. 35 is a diagram showing a situation when an object at a certain height is observed from a satellite or the like. The difference between an image obtained by an optical sensor such as a camera using visible light or infrared light and an image obtained by a radio wave sensor (here, SAR) is shown. Will be described. FIG. 35A shows a situation viewed from the side, and FIG. 35B shows a situation viewed from the front. 35 (a) and (b), (1) is a point where the target object contacts the ground, (2) is the highest point of the target object, and (3) is a range which is a shadow that cannot be seen from the sensor on the ground. The point farthest from the target object, (4), is a point that has come out of the shadow on the ground. In this situation, when an image is taken with an optical sensor, each point appears in the image in the order of the angular direction observed from the sensor. That is, they appear in the image in the order of (1) to (2) and (2) to (4). Also, (2) and (3) in a straight line direction from the sensor appear to overlap. On the other hand, when the image is captured by the radio wave sensor, each point appears in the image in order of the distance from the sensor. That is, (2) to (1), (1) to (3), and (3) to (4) appear in the image in this order. FIG. 35 (c) shows the portion shown as an optical image at this time, and FIG. 35 (d) shows the portion shown as a radio wave image with the above-mentioned reference numerals and arrows (shown in the direction of the arrow). FIG. 35 (e) shows the optical image, and FIG. 35 (f) shows the radio wave image. In each case, the sensor is photographed from the front of the image.
[0080]
Paying attention to the radio wave image, in FIGS. 35D and 35F, the portions (2) to (1) are vertically inverted with respect to the optical image when displayed on the radio wave image. A visible region (hereinafter, this region is referred to as a “vertical inverted region”) is formed. In addition, the portions (1) to (3) form a region corresponding to a shadow position that cannot be seen from the sensor on the radio wave image (hereinafter, this region is referred to as a “radio wave shadow region”).
As described above, in the radio wave image, there is a case where an “upside-down area” in which the order in which the object appears in the image is different from the optical image due to the effect of the height of the object. Since the human eye is also a kind of optical sensor, it is difficult to understand the image if the optical image and the radio wave image look differently. The thirteenth embodiment provides a means for solving such a problem.
[0081]
FIG. 34 is a block diagram showing a configuration of a ground truth support device according to a thirteenth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 11 are denoted by the same reference numerals, and description thereof will be omitted in principle. The apparatus according to the thirteenth embodiment has a configuration in which the upside down area calculating means 21 is added to the second embodiment. The upside-down inversion area calculation means 21 is a means for calculating, from the designated position and height information, an area on the radio wave image that looks upside down when the image is compared with the optical image.
[0082]
The user of the apparatus uses the display means 9 and the input means 10 to specify the position and height of a reference point on a map or a radio wave image. For simplicity of description, when designated on a map, it is referred to as "map designated position", when designated on a radio wave image, it is designated as "radio designated position", and height is designated as "designated altitude".
When the information of the position and the height of the reference point is received via the terminal control means 5, the upside down area calculating means 21 first receives the information via the terminal control means 5 when the map designated position is designated. The radio wave / map position conversion means 4 obtains a position on the radio wave image having a height of 0 at the designated position (hereinafter, referred to as “radio zero point”). This radio zero point is a position corresponding to (1) in FIG. Next, the upside-down area calculating means 21 obtains a position on the radio wave image corresponding to the designated altitude based on the map designated position and the designated altitude by the map designation for shortening correcting means 11 via the terminal control means 5. . The position on the radio wave image at the designated altitude is referred to as a “radio wave nearest point” for explanation. This latest radio wave point is a position corresponding to (2) in FIG.
[0083]
On the other hand, when the designated radio wave position is designated, the upside-down inversion area calculating means 21 first sets the designated radio wave position as the “most recent radio wave point”. Next, the upside-down inversion area calculation unit 21 refers to the imaging / reproduction information held by the radio wave image information management unit 8 via the terminal control unit 5 and obtains information on the position of the SAR corresponding to the “radio wave nearest point”. . Further, the distance between the “radio wave nearest point” and the SAR is obtained from the position on the radio wave image (position in the range direction determined by the distance from the SAR). The upside down area calculating means 21 calculates the distance between the “radio point 0” and the SAR based on the position (altitude) of the SAR, the distance between the “radio wave nearest point” and the SAR, and the designated altitude. This calculation method will be described with reference to FIG. The distance between the “radio point 0” and the SAR can be calculated using the three-square theorem if the altitude of the SAR, the distance between the “radio nearest point” and the SAR, and the designated altitude are known. Next, the “radio point 0” is calculated from the distance between the “radio point 0” and the SAR, and the position information of the “radio nearest point”. Just move.)
[0084]
The operation after calculating the “radio wave nearest point” and the “radio wave 0 point” is the same in both cases of “map designated position” and “radio designated position”. That is, the upside-down area calculating means 21 defines the area between the “most recent radio wave point” and the “0 radio wave point” as the upside-down area from the calculated value, and instructs the display means 9 via the terminal control means 5 To display the calculated upside down area. The upside-down area is displayed on the radio wave image, for example, as an area surrounded by colored lines or blinking lines. Further, hatching may be added to the area.
[0085]
As described above, according to the thirteenth embodiment, when the position and the height are specified on the displayed map or the radio wave image, the position is specified as the position on the radio wave image corresponding to the specified height. The position on the radio wave image with a height of 0 was calculated, and the calculated position between the two positions on the radio wave image was calculated and displayed as an area that can be seen upside down compared to the optical image. During the activity, it is possible to easily determine a region on the radio wave image where the image is seen upside down as compared to the optical image, and the effect of efficiently and accurately conducting the on-site investigation work is obtained.
Although the thirteenth embodiment has been described with reference to the example of the second embodiment, the upside down area calculating means 21 may be applied in addition to the third to twelfth embodiments. Can play.
[0086]
Embodiment 14 FIG.
In the radio wave image, in a place where the radio wave from the SAR is shadowed, no radio wave is scattered back to the SAR, and an image similar to a place where there is no target area, generally a dark image appears. This is different from the shadow on the image of the optical sensor that appears due to the influence of a strong light source such as the sun. Therefore, in a radio wave image, it is difficult to judge a shadow visually as in an optical image. For such a reason, in the investigation of the radio wave image, information for distinguishing between the shadowed part of the radio wave from the SAR and the empty area in the target area is required. Also, in the case of an object whose radio wave backscatter is small, even if the reflected wave from the object does not appear directly on the radio wave image, the magnitude of the backscatter from the surroundings such as the ground surface is affected by the shadow area of the radio wave created by the object. In some cases, the presence of an object can be identified. In this case, the position of the shadow region in the radio wave image where the object appears differs from the case where the radio wave is simply backscattered from the object. For this reason, there is a problem that an accurate correspondence cannot be obtained by the method of converting a radio wave image and a map position on the premise of backscattering. The fourteenth embodiment provides a means for solving this problem.
[0087]
FIG. 37 is a block diagram showing a configuration of a ground truth support device according to a fourteenth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The apparatus according to the fourteenth embodiment has a configuration obtained by adding a radio wave shadow area calculation unit (shadow area calculation unit) 22 to the first embodiment. The radio shadow area calculating means 22 is a means for calculating, from the position and the height information designated on the map or the radio wave image, an area where the shadow of the radio wave from the SAR appears on the radio wave image.
The area where the shadow of the radio wave from the SAR appears on the radio wave image corresponds to the “radio wave shadow area” described in the thirteenth embodiment with reference to FIG.
[0088]
The user of the apparatus uses the display means 9 and the input means 10 to specify the position and height of a reference point (object) on a map or a radio wave image. When the radio shadow area calculating means 22 receives the information on the designated position and height via the terminal control means 5, the radio shadow area calculating means 22 firstly sets the height on the radio image at the specified position. A “point 0 radio wave” which is a point 0 is obtained. This calculating method is the same as the procedure in which the upside down area calculating means 21 of the thirteenth embodiment obtains the “radio point 0”. Next, the radio wave shadow area calculating means 22 sets the end point of the radio wave shadow, a point on the radio wave image corresponding to (3) in FIG. 35 (hereinafter, referred to as “shadow end point”) as follows. Ask.
[0089]
Here, in the case of the radio wave designated position, the radio wave shadow area calculating means 22 calculates the position on the map (corrected position coordinates) from the radio wave designated position and the height information by the radio wave image designated for shortening correction means 2. Let it be calculated. Next, the radio wave shadow area calculation means 22 obtains the position of the SAR at the time of radio wave image capture at the radio wave designated position from the radio wave image imaging / reproduction information of the radio wave image information management means 8.
On the other hand, in the case of the map designated position, the radio wave shadow area calculating means 22 causes the radio wave / map position converting means 4 to calculate the corresponding position on the radio wave image from only the position information on the map via the terminal control means 5 ( In the subsequent SAR position identification, the result is the same without height correction from the map, so a conversion function without height correction is used.) Next, based on the calculated position on the radio wave image, the radio wave shadow area calculation means 22 obtains the position of the SAR at the time of radio wave image capturing at that position from the imaging / reproduction information.
[0090]
As described above, in each case of the map designated position and the radio wave designated position, once the SAR position is obtained, the radio wave shadow area calculating means 22 next determines the SAR position, the position of the target on the map, and From the height information, a point corresponding to the shadow end point on the map, that is, a point at which the extension of a straight line connecting the SAR and the top of the object intersects the ground is obtained. After that, the radio wave shadow area calculation means 22 calculates the “shadow end point” which is a position on the corresponding radio wave image by the radio wave image designation four shortening correction means 2 via the terminal control means 5 (here, a high shadow end point). Since the height is 0, a conversion function without height correction is used.) From the calculated value, the radio wave shadow area calculating means 22 defines a portion between the “radio wave 0 point” and the “shadow end point” as a “radio wave shadow area”, and instructs the display means 9 to calculate the calculated “radio wave shadow area”. Is indicated on the radio wave image so as to be distinguished from others. The "radio wave shadow area" may be displayed in the same manner as in the "vertical inversion area" of the thirteenth embodiment, but may be distinguished by changing the color or the method of highlighting.
[0091]
As described above, according to the fourteenth embodiment, when the position and the height are designated on the displayed map or the radio wave image, the position on the radio wave image having a height of 0 and the SAR We calculated the end position of the shadow of the radio wave from the SAR, and calculated the position between the two positions on the radio wave image as the area where the shadow of the radio wave from the SAR appears on the radio wave image. In the meantime, it is possible to easily identify the shadowed part of the radio wave from the SAR and the area where there is no target area, which has the effect of enabling efficient and accurate on-site investigation work. Can be
Although the fourteenth embodiment has been described with reference to the example of the first embodiment, the radio shadow area calculating means 22 may be applied in addition to the second to twelfth embodiments. The effect can be achieved.
[0092]
Embodiment 15 FIG.
As described with reference to FIG. 35, the “vertical upside-down area” in which the image on the radio wave image is turned upside down as compared to the optical image, and the “radio shadow” where the shadow of the radio wave from the SAR appears on the radio wave image Area. These appear as a set of image areas on the radio wave image as shown in FIG. 35F with respect to a structure having a height, but in the radio wave image, these may be difficult to distinguish. The fifteenth embodiment provides a means for solving this problem.
[0093]
FIG. 38 is a block diagram showing a configuration of a ground truth support device according to a fifteenth embodiment of the present invention. In the drawing, the same or corresponding portions as in FIG. 11 are denoted by the same reference numerals, and description thereof will be omitted in principle. The apparatus according to the fifteenth embodiment is different from the second embodiment in that the upside down area calculating unit 21 of the thirteenth embodiment, the radio shadow area calculating unit 22 of the fourteenth embodiment, and the upside down radio shadow area combining unit 23 are newly added. It has an added configuration. The upside-down inverted radio shadow area synthesizing unit 23 calculates the upside down area calculated by the upside down area calculating unit 21 and the radio shadow area calculated by the radio shadow area calculating unit 22 based on the designated position and height information. Is a means for synthesizing and displaying.
[0094]
The user of the device uses the display means 9 and the input means 10 to specify the position and height of a reference point on a map or a radio wave image. First, the upside-down inverted radio wave shadow area synthesizing unit 23 receives information on the position and height of a reference point via the terminal control unit 5. The upside-down inverted radio shadow area synthesizing unit 23 sends the information on the position and the height of the reference point to the upside-down inverted area calculation unit 21 via the terminal control unit 5 to calculate the upside-down inverted area. Here, the procedure of calculating the upside down area by the upside down area calculation means 21 is the same as that of the thirteenth embodiment, but here the calculation result is returned to the upside down radio wave shadow area synthesis means 23 once.
[0095]
Next, the upside-down inverted radio shadow area synthesizing means 23 sends information on the position and height of the reference point to the radio shadow area calculating means 22 via the terminal control means 5 to calculate the radio shadow area. Here, the procedure of calculating the radio wave shadow area by the radio wave shadow area calculation means 22 is the same as that of the thirteenth embodiment, but the calculation result is temporarily returned to the vertically inverted radio wave shadow area synthesis means 23 here. Finally, the upside-down inverted radio shadow area synthesizing means 23 synthesizes the calculated upside down inverted area and radio shadow area into one set, sends it to the display means 9 via the terminal control means 5, and displays the upside down inverted area on the radio wave image. And instruct to display as a pair of the radio wave shadow area.
Note that the order of calculating the upside-down inverted area and the radio wave shadow area may be reversed. The position of the height 0 at the position on the radio wave image corresponding to the designated height, which is calculated by the upside-down inversion area calculation means 21 and the radio wave shadow area calculation means 22, is not performed by either means, but is performed by either one of them. The calculated value may be used on the other side.
[0096]
As described above, according to the fifteenth embodiment, from the position and the height specified on the displayed map or the radio wave image, the position of the height 0 at the position on the radio wave image corresponding to the specified height is obtained. Calculate the position on the radio wave image, calculate between the two positions on the calculated radio wave image as an area where the image looks upside down compared to the optical image, and calculate the end position of the radio wave shadow, The area between the position on the radio wave image at height 0 and the end position of the radio wave shadow is calculated as a region where the shadow of the radio wave from the SAR appears on the radio wave image, and information of both calculated regions is synthesized. Since the display is performed, it is possible to easily recognize two regions on the radio wave image for one structure, and it is possible to efficiently and accurately perform a survey operation on site.
Although the fifteenth embodiment has been described with reference to the example of the second embodiment, the upside-down inversion area calculation means 21, the radio shadow area calculation means 22, and the upside-down inversion radio shadow area synthesis means 23 are used in the third to third embodiments. The present invention may be applied to the twelfth aspect, and the same effects as above can be obtained.
[0097]
Embodiment 16 FIG.
FIG. 39 is a block diagram showing a configuration of a ground truth support device according to a sixteenth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The apparatus according to the sixteenth embodiment has a configuration obtained by adding the upside-down inversion slope calculating means 24 to the first embodiment. The upside-down inversion slope calculating unit 24 is a unit that calculates, based on the designated position and height information, the angle of a slope on the radio wave image where the image looks upside down as compared to the optical image.
[0098]
The user of the apparatus uses the display unit 9 and the input unit 10 to specify the position and height of a reference point (object) on a map or a radio wave image. Upon receiving the information on the position and the height of the reference point via the terminal control means 5, the upside-down inversion inclination calculating means 24 obtains the position and the height on the map.
If the input is the position and height specified on the map, the input value is used as it is. On the other hand, in the case of the position and height designated on the radio wave image, the radio wave image designation for shortening correction means 2 converts the position and height on the map via the terminal control means 5. In any case, a point determined by the calculated position and height on the map is referred to as a “reversed slope reference point”.
[0099]
After obtaining the inverted slope reference point, the upside-down inverted slope calculating means 24 obtains the position of the SAR at the time of imaging the target point. The SAR position at the time of imaging the target point can be obtained from the imaging / reproduction information held by the radio-wave image information management means 8 if the position on the radio-wave image is known. In the case of the position specified on the radio wave image, the position of the SAR is obtained using the input value as it is. On the other hand, in the case of the map designated position, the position on the radio wave image is calculated by the radio wave / map position converting means 4 via the terminal control means 5, and the position of the SAR is obtained. When the position of the SAR is obtained, the radio wave / map position conversion means 4 is used because height correction is not required.
[0100]
FIG. 40 is an explanatory diagram showing a method of calculating an angle by the upside-down inversion inclination calculating means 24. The upside-down inversion slope calculating means 24 obtains a tangent passing through the inverted slope reference point of a circle having the radius of the distance r from the SAR position to the inverted slope reference point with the SAR position as the center, and this tangent forms the horizontal plane. The angle θ is calculated as “the angle of the inclined surface where the image looks upside down compared to the optical image (hereinafter, referred to as a boundary angle)”. If the angle of the slope is larger than the boundary angle θ, the image looks upside down as compared to the optical image. Conversely, when the angle of the slope is smaller than the boundary angle, no upside down occurs.
Next, the upside-down inversion slope calculating unit 24 sends the calculated boundary angle θ to the display unit 9 via the terminal control unit 5 and instructs the display unit 9 to display the boundary angle θ on the screen. The boundary angle θ is displayed on one or both of the map and the radio wave image, for example, as “boundary angle θ degrees”.
[0101]
As described above, according to the sixteenth embodiment, a point determined by the position and height on the map is obtained from the position and height information specified on the map or the radio wave image, and the imaging of the point is performed. The position of the SAR at the time is obtained, and based on the above-mentioned point and the position of the SAR, the angle of the slope that the image looks upside down in comparison with the optical image is calculated and displayed on the radio wave image. During the survey work, the state where the target area is turned upside down on the radio wave image can be easily determined, and the effect that the survey work can be performed efficiently and accurately can be obtained.
Although the sixteenth embodiment has been described with reference to the example of the first embodiment, the upside-down inversion slope calculating means 24 may be applied to the second to the fifteenth embodiments. Can be played.
[0102]
Embodiment 17 FIG.
In the case of an object whose radio wave backscatter is small, even if the reflected wave directly from the object does not appear on the radio wave image, the magnitude of the backscatter from the surroundings such as the ground surface changes depending on the shadow area of the radio wave created by the object, Sometimes the presence of an object can be identified. The position of this shadow region on the radio wave image where the object appears is different from the case where the radio wave is simply backscattered from the object. For this reason, there is a problem that an accurate correspondence cannot be obtained by the method of converting a radio wave image and a map position on the premise of backscattering. The seventeenth embodiment provides a means for solving this problem.
[0103]
FIG. 41 is a block diagram showing a configuration of a ground truth support device according to a seventeenth embodiment of the present invention. In the drawing, the same or corresponding portions as in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. The device according to the seventeenth embodiment has a configuration obtained by adding the radio shadow area map position calculating means 25 to the first embodiment. The radio wave shadow area map position calculating means 25 calculates a position and an altitude where a location corresponding to the radio wave shadow area appears on the map when a radio wave shadow area which is a shadow of the radio wave from the SAR is specified on the radio wave image. Means.
The radio wave shadow area is an area corresponding to (1) to (3) in the radio wave image of FIG. Here, for the sake of explanation, (1) is the radio wave shadow area start point, and (3) is the radio wave shadow area end point.
[0104]
The user of the apparatus uses the display unit 9 and the input unit 10 to specify a radio wave shadow area on the radio wave image. Upon receiving the designated information of the designated radio shadow area via the terminal control means 5, the radio shadow map position calculating means 25 obtains the position on the map with respect to the radio shadow area start point. Here, since the radio wave shadow area start point (1) can be assumed to have a height of “0”, the radio wave shadow area map position calculation means 25 uses the radio wave / map position conversion means 4 via the terminal control means 5, Find the position on the map without height correction. For the sake of explanation, this position on the map is referred to as “map start position”. After calculating the map start position, the radio shadow area map position calculating means 25 obtains a position on the map with respect to the radio shadow area end point (3). Also in this case, since the radio wave shadow area end point (3) can be assumed to have a height of “0”, the radio wave shadow area map position calculation means 25 sets the radio wave / map position conversion means 4 in the same procedure as the map start position. To find the position on the map for the radio wave shadow area end point. This position on the map is referred to as “map end position”.
[0105]
Next, the height of the map start position (the place corresponding to the radio wave shadow area) is calculated. The calculation method is shown in FIG. The radio shadow area map position calculating means 25 calculates the SAR of the target point at the time of imaging of the target point from the information of the radio shadow area start point (1) and the imaging / reproduction information of the radio image information managing means 8 via the terminal control means 5. Find the position. Next, the radio wave shadow area map position calculating means 25 obtains an intersection of a straight line connecting the obtained SAR position and the map end position, and a straight line extending from the map start position to the horizontal plane (ground surface) in a vertical direction. Is a shadow reference point. The distance between the map start position and the shadow reference point is the altitude for calculation.
The radio shadow area map position calculating means 25 finally transmits the calculated map start position and altitude via the terminal control means 5 so as to display the position corresponding to the radio shadow area on the map and the altitude. , Display means 9. The display in this case is performed by, for example, creating a polygon corresponding to the shape of the shadow on a map, and filling the interior with shading according to the height in the same manner as the above-described grade bar.
[0106]
As described above, according to the seventeenth embodiment, when a region that is a shadow of the radio wave from the SAR is specified on the radio wave image, the positions on the map with respect to the start point and the end point of the region are respectively specified. Then, the position of the SAR at the time of imaging the start point is obtained from the imaging / reproduction information, and the position of the start point on the map is determined based on the position of the SAR and the positions on the map corresponding to the start point and the end point. Altitude was calculated, and the position of the starting point on the map and the calculated altitude were displayed as the position where the above-mentioned area appears on the map and its altitude. This makes it possible to easily identify the corresponding relationship, and has the effect of enabling efficient and accurate on-site investigation work.
Although the seventeenth embodiment has been described with reference to the example of the first embodiment, the radio shadow area map position calculating means 25 may be applied to the second to the sixteenth embodiments. The effect can be achieved.
[0107]
Embodiment 18 FIG.
FIG. 43 is a block diagram showing a configuration of a ground truth support device according to an eighteenth embodiment of the present invention. In the figure, the same or corresponding parts as those in FIG. 37 are denoted by the same reference numerals, and the description thereof is omitted in principle. The device according to the eighteenth embodiment has a configuration obtained by adding an object shape setting unit 26 and a radio shadow area control unit 27 to the fourteenth embodiment. The object shape setting means 26 is a means for defining the shape of the object. The radio shadow area control means 27 designates a position on the map at which the object defined by the object shape setting means 26 is to be placed, and assumes that this object does not scatter radio waves back. This is a means for calculating an appearing shadow area.
[0108]
Here, an example will be described in which a certain polyhedron (polygon) is defined, and a shadow area where a shadow of a radio wave on this polyhedron appears on a radio wave image is calculated. As the object shape setting means 26, any means can be used as long as it can define the shape of the object, and an arbitrary realization method may be selected and applied. For example, it is conceivable that a user of the apparatus defines and realizes a polyhedron by inputting coordinates and lengths of vertices and sides using the display means 9 and the input means 10. In addition, some polyhedral data may be stored, and the user of the apparatus may select the data using the display means 9 and the input means 10 from among them.
[0109]
First, a user of the apparatus inputs an object using the display means 9 and the input means 10, and the object shape setting means 26 defines an object having a desired shape, and specifies a position on the map. The radio shadow area control unit 27 receives the information of the defined object and the position on the specified map via the terminal control unit 5. Next, the radio shadow area control means 27 selects each vertex of the polyhedron (object), and causes the radio shadow area calculation means 22 to calculate a shadow area for each vertex via the terminal control means 5. Here, the procedure in which the radio wave shadow area calculating means 22 calculates a shadow area at each vertex is the same as that described in the fourteenth embodiment. After calculating the shadow area at each vertex, the radio shadow area control unit 27 combines the calculated shadow areas to obtain a shadow area for the polyhedron. Finally, the radio wave shadow area control means 27 instructs the display means 9 via the terminal control means 5 to display the calculated shadow area for the polyhedron. The display in this case is performed by, for example, forming a polygonal area corresponding to the shape of a shadow surrounded by a colored line or a blinking line on the map.
[0110]
In the above description, an example of a polyhedron has been described. However, the shape of an arbitrary object other than a polyhedron, such as a sphere, is defined by the object shape setting means 26, and the radio shadow area control means 27 is used for the defined object. Thus, the calculation of the region that is the shadow of the radio wave may be performed.
Also, an example has been described in which a shadow of a polyhedron is obtained using each vertex. However, a shadow region of a polyhedron may be obtained using a plurality of peripheral points other than the vertex. In that case, the shadow area is obtained in more detail. Further, based on the position of the target object and the SAR, a portion where the radio wave from the SAR does not hit is specified as a portion that is unnecessary when a shadow region is obtained, and the portion is omitted so as to obtain a polyhedral shadow region. You may do so.
[0111]
As described above, according to the eighteenth embodiment, the shape of an object is defined, and it is assumed that when the position where the object having the defined shape is placed is specified on a map, the object does not backscatter radio waves. Select a plurality of points on the outer periphery of the object having the defined shape, and, based on the information of the selected points and the position on the specified map, respectively, define a shadow area for each of the selected points. Since the calculated shadow areas are combined and calculated as an area in which the shadow of the radio wave by the object appears on the radio wave image, the shadow of the radio wave is reflected even on an object having a complicated shape. This makes it possible to easily recognize the area appearing above, so that the on-site investigation work can be performed efficiently and accurately.
Although the eighteenth embodiment has been described with reference to the example of the fourteenth embodiment, the object shape setting unit 26 and the radio wave shadow area control unit 27 may be applied to the fifteenth embodiment. The effect can be achieved.
[0112]
Embodiment 19 FIG.
FIG. 45 is an explanatory diagram showing the multiple reflection targeted by the nineteenth embodiment of the present invention. When the ground or water surface that reflects radio waves well is nearby, scattered waves from a certain point may return to the SAR through a plurality of paths. In the example of FIG. 45, a path P1 that directly returns to the SAR by backscattering from a certain point (hereinafter, referred to as a “scattering reference point”) and a path that returns to the SAR from the scattering reference point via a reflection surface. There is P2. Since the distance at which the radio wave returns to the SAR is different between the path P1 and the path P2, it appears as two different scattering points on the radio wave image. That is, a phenomenon occurs in which a plurality of scattering points appear on the radio wave image with respect to one reflection reference point. Hereinafter, such a phenomenon is referred to as “multiple scattering”, and a scattering point that appears on the radio wave image due to this phenomenon is referred to as “multiple scattering point”. Also, a location that causes multiple scattering points is referred to as a “reflection surface”, and a point on the map from which multiple scattering points are based is referred to as a “scattering reference point”. Such a phenomenon of multiple scattering at a designated position on the map makes it difficult to determine whether the position is a multiple scattering point on the radio wave image or a plurality of different scattering reference points on the map. There is a problem. The nineteenth embodiment provides a means for solving this problem.
[0113]
FIG. 44 is a block diagram showing a configuration of a ground truth supporting device according to a nineteenth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 11 are denoted by the same reference numerals, and the description thereof is omitted in principle. The device according to the nineteenth embodiment has a configuration obtained by adding a reflecting surface designating unit 28 and a multiple scattering point calculating unit 29 to the second embodiment. The reflecting surface designating means 28 is a means for designating the position of the reflecting surface that causes multiple scattering on the map and the range thereof. The multiple scattering point calculation means 29 considers the reflection surface specified by the reflection surface specification means 28 and, based on the scattering reference points specified on the map, generates multiple scattering points (standard scattering Point and reflection scattering point).
[0114]
FIG. 46 is an explanatory diagram showing an outline of the operation according to the nineteenth embodiment.
First, when the user of the apparatus inputs the position and range of the reflecting surface on the map using the display means 9 and the input means 10, the reflecting surface designating means 28 transmits the information of the reflecting surface via the terminal control means 5. Receive and specify and hold. After the designation of the reflection surface, the user of the apparatus uses the display means 9 and the input means 10 to designate the scattering reference point (position) and the height on the map. Upon receiving the information on the scattering reference point, the multiple scattering point calculating means 29 receives the information on the position and height of the scattering reference point from the information on the position and height of the scattering reference point by the map designation four shortening correcting means 11 via the terminal control means 5. The position on the radio wave image obtained from the path of the radio wave directly returning to the SAR by backscattering (path P1 in FIG. 45) is referred to as “standard scattering point” (corresponding to the position after radio wave image correction in the second embodiment). Let it be calculated.
[0115]
Next, the multiple scattering point calculation means 29 calculates the position on the radio wave image obtained from the path (path P2 in FIG. 45) of the radio wave returning from the scattering reference point to the SAR via the reflection surface in the following procedure. Calculated as “reflection scattering point”.
First, the position of the SAR at the time of imaging the scattering reference point is obtained from the imaging / reproduction information of the radio wave image information management means 8 based on the standard scattering point. Next, the multiple scattering point calculation means 29 passes the light from the scattering reference point via the reflecting surface based on the scattering reference point, the position of the SAR, and the position and range of the designated reflecting surface held by the reflecting surface designating means 28. To calculate the route returning to the SAR.
[0116]
Here, it is assumed that the angle of incidence and the angle of reflection on the reflecting surface (see FIG. 45) are equal, the reflecting surface is a surface horizontal to the horizon, and has a constant height of “0”. The incident angle and the reflection angle determine a point on the reflection surface along this path (hereinafter, this point is referred to as a “reflection point”). Under this assumption, a triangle formed by a scattering reference point, a reflection point, and a point having a height of “0” at the scattering reference point, and a point having a height of “0” at the position of the SAR, the reflection point, and the SAR The triangles made are similar. Using this relationship, a reflection point (coordinate on the map) is calculated from the position of the scattering reference point (coordinate and height on the map) and the position of the SAR (coordinate and height on the map). Once the reflection point on the map is calculated, the sum of the distance from the SAR to the scattering reference point, the distance from the scattering reference point to the reflection point, and the distance from the reflection point to the SAR is calculated. Distance to the SAR in the path of "."
[0117]
Thereafter, the distance to the SAR in this calculation target path (via path P: SAR-scattering reference point-reflection point-SAR) and the round trip distance from SAR to the scattering reference point (via path P1: SAR-scattering reference) A difference between the points (−SAR) (this difference is referred to as “reflection moving distance”) is obtained. After calculating the reflection movement distance, a position on the map, which is extended by the reflection movement distance from the scattering reference point on the extension of the straight line connecting the SAR and the scattering reference point, is calculated as a virtual scattering point (position coordinates and height). . Based on the position coordinates and height of the virtual scattering point on the map, the position on the radio wave image corresponding to the virtual scattering point, that is, the reflection scattering point, is determined by the map designation four shortening correction means 11 via the terminal control means 5. Let it be calculated. After calculating the reflection scattering points, finally, the multiple scattering point calculation means 29 instructs the display means 9 via the terminal control means 5 to display the calculated standard scattering points and reflection scattering points on the radio wave image. . In this case, the standard scattering point is displayed as the position of the scattering point corresponding to the position on the conventional map, while the reflected scattering point is different from the standard scattering point. The icon is displayed on the radio wave image by changing the color of the icon.
Note that, in the above description, an example in which the information of the scattering reference point is input after defining the reflecting surface first is described, but the information of the scattering reference point is input first, and the reflecting surface is defined later. Is also good.
[0118]
As described above, according to the nineteenth embodiment, the range of the reflection surface that causes multiple scattering on the map is specified, and based on the position and height of the scattering reference point specified on the map, The position on the radio wave image obtained from the path of the radio wave directly returning from the scattering reference point to the SAR in the backscattering is calculated as the standard scattering point, and the position and height of the SAR at the time of imaging of the scattering reference point obtained from the imaging / reproduction information Based on the position and height of the scattering reference point and the position and range of the designated reflecting surface, the position on the radio wave image obtained from the path of the radio wave returning from the scattering reference point to the SAR via the reflecting surface is calculated. Calculated as a reflection scattering point, and the calculated standard scattering point and reflection scattering point are displayed on the radio wave image, so it is easy to distinguish between multiple scattering points and multiple different scattering reference points during field survey And efficient on-site investigation work And, the effect of enabling accurate is obtained.
Although the nineteenth embodiment has been described with reference to the example of the second embodiment, the reflecting surface designating unit 28 and the multiple scattering point calculating unit 29 may be applied to the third to eighteenth embodiments. The same effect as described above can be obtained.
[0119]
Embodiment 20 FIG.
FIG. 47 is a block diagram showing a configuration of a ground truth support device according to a twentieth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 44 are denoted by the same reference numerals, and the description thereof will be omitted in principle. The apparatus according to the twentieth embodiment has a configuration obtained by adding a reflection surface height setting means (reflection surface management means) 30 to the nineteenth embodiment. The reflecting surface height setting means 30 is a means for setting and maintaining the height of the reflecting surface.
[0120]
Here, when the user of the apparatus specifies the height of the reflecting surface using the display means 9 and the input means 10, the reflecting surface height setting means 30 transmits the designated reflecting surface via the terminal control means 5. The height information is received and set and held. Here, for example, when the reflection surface is a sea surface or the like, the reflection surface altitude setting means 30 uses the radio wave image information management means 8 to store the tide based on information on the date and time of radio wave image capturing, which is the imaging / reproduction information. Automatically sets the height taking into account the pull.
Next, the multiple scattering point calculation means 29 calculates the reflection point (coordinate on the map) from the position of the scattering reference point (coordinate and height on the map) and the position of the SAR (coordinate and height on the map). At the time of calculation, information on the height of the reflecting surface is received from the reflecting surface height setting means 30 and is added to the reflecting point, and this height information is reflected in the subsequent calculation of the reflecting scattering point.
[0121]
As described above, according to the twentieth embodiment, when the position and range of the reflection surface are set on the map for the region causing multiple scattering, the height is set for the reflection surface and the height is set. The reflected scattering points appearing in the radio wave image are calculated and displayed by adding the height information of the reflected surface, and the water level of the river whose height changes due to rainfall and the water level of the sea surface due to the ebb and flow of the tide, etc. Even in the case where the altitude of the reflecting surface changes with time, the location where multiple scattering occurs can be correctly displayed and identified, so that the effect of efficiently performing ground truth can be obtained.
[0122]
Embodiment 21 FIG.
In the nineteenth embodiment described above, it has been described that, when the reflection surface that causes multiple scattering is a horizontal plane, multiple scattering points appearing on a radio wave image can be calculated and displayed. However, in reality, the reflection surface that causes multiple scattering is not limited to a horizontal surface, and for example, a wall surface of an artificial structure such as a building can be considered. In the twenty-first embodiment, means for calculating and displaying multiple scattering points in consideration of such a reflection surface other than the horizontal plane will be described.
[0123]
FIG. 48 is a block diagram showing a configuration of a ground truth support device according to a twenty-first embodiment of the present invention. In the drawing, the same or corresponding portions as in FIG. 44 are denoted by the same reference numerals, and the description thereof is omitted in principle. The twenty-first embodiment has a configuration in which a reflection angle setting means (reflection surface management means) 31 is added to the configuration of the nineteenth embodiment. The reflection angle setting means 31 is means for setting and maintaining the angle between the reflection surface designated by the reflection surface designation means 28 and the horizontal plane and the magnitude of the reflection angle.
[0124]
Here, when the target reflecting surface is not horizontal, the user of the apparatus can set the angle between the reflecting surface and the horizontal plane and the magnitude of the reflecting angle with respect to the incident angle (see FIG. 45). The input of these angles is performed using the display means 9 and the input means 10 when the position and range of the reflection surface are set on the map. The reflection angle setting means 31 receives the input result via the terminal control means 5, sets an angle formed by the reflection surface with the horizontal plane, sets and manages information relating to the angle to the reflection surface. The multiple scattering point calculation means 29 receives information on the angle to the reflection surface from the reflection angle setting means 31, calculates the reflection point using the angle formed by the reflection surface with the horizontal plane and the incident angle, and uses the result to perform reflection scattering. Calculate points. The reflection scattering points calculated by the multiple scattering point calculation means 29 are displayed on the display means 6. The display example of the reflection scattering points may be the same as that in the nineteenth embodiment.
[0125]
As described above, according to the twenty-first embodiment, when the position and range of the reflection surface are specified on the map for the region where multiple scattering occurs, the angle formed by the specified reflection surface with the horizontal plane and the reflection angle are determined. By setting the size, adding the angle made with the set horizontal plane and the angle of incidence, and calculating and displaying the reflection scattering point, it is possible to accurately evaluate the effect of multiple scattering, and efficiently reduce ground truth. The effect that can be obtained is obtained.
Although the twenty-first embodiment has been described with reference to the example of the nineteenth embodiment, the reflection angle setting means 31 may be applied to the twentieth embodiment, and the same effects as described above can be obtained.
[0126]
Embodiment 22 FIG.
FIG. 49 is a block diagram showing a configuration of a ground truth support device according to a twenty-second embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 44 are denoted by the same reference numerals, and the description thereof is omitted in principle. The twenty-second embodiment has a configuration obtained by adding a plurality of reflection surface management means 32 to the nineteenth embodiment. The multiple reflection surface management unit (reflection surface management unit) 32 is a unit that specifies and holds and manages a range of a plurality of reflection surfaces that cause multiple scattering on a map.
[0127]
In the twenty-second embodiment, the user of the device sets a range of a plurality of reflecting surfaces. Here, the plurality of reflection surfaces are input by the user of the apparatus using the display unit 9 and the input unit 10. The multiple reflection surface management unit 32 receives the input result via the terminal control unit 5, sets the information as information on a plurality of reflection surfaces, and manages the information. The multiple scattering point calculation means 29 takes out the ranges of the reflection surfaces one by one from the plural reflection surface management means 32, calculates the reflection points respectively, and sequentially uses the calculated reflection points to calculate the reflection scattering points at each reflection surface. Is calculated, and the result is combined and displayed.
[0128]
As described above, according to the twenty-second embodiment, when there are a plurality of regions that cause multiple scattering, a range of a plurality of reflecting surfaces that cause multiple scattering is specified and held on a map, One reflection surface was taken out from each surface, and the reflection scattering points at each reflection surface were calculated in order. The calculated reflection scattering points were combined and displayed. The point can be easily determined, and the effect of efficiently and accurately conducting the on-site investigation can be obtained.
Although the twenty-second embodiment has been described with reference to the example of the nineteenth embodiment, the reflection angle setting means 31 may be applied to the twentieth embodiment or the twenty-first embodiment, and the same effects as above can be obtained. be able to.
[0129]
Embodiment 23 FIG.
FIG. 50 is a block diagram showing a configuration of a ground truth support device according to a twenty-third embodiment of the present invention. In the drawing, the same or corresponding portions as in FIG. 49 are denoted by the same reference numerals, and the description thereof will be omitted in principle. The device according to the twenty-third embodiment has a configuration obtained by adding a number-of-reflections setting unit (reflection surface management unit) 33 to the twenty-second embodiment. The number-of-reflections setting means 33 sets and retains and manages an upper limit value of the total number of times of reflection on the reflection surface appearing as a multiple scattering point on the radio wave image due to the path of the radio wave returning from the SAR through a plurality of reflection surfaces. It is.
[0130]
The user of the apparatus uses the display means 9 and the input means 10 to designate and input the maximum number of reflections on the reflection surface. The number-of-reflections setting unit 33 is a unit that receives the input result via the terminal control unit 5, sets an upper limit value of the total number of reflections on the reflecting surface, and holds and manages the upper limit value.
As in the twenty-second embodiment, the multiple scattering point calculation means 29 takes out one reflection surface from each of the plurality of reflection surfaces held by the plurality of reflection surface management means 32 and sequentially calculates the reflection scattering points at each reflection surface. Then, the calculated reflection scattering points are combined and displayed. However, when calculating the reflection scattering points on each reflection surface, the reflection scattering points are also calculated for the case of multiple reflections on a plurality of reflection surfaces. Here, the upper limit value set by the number-of-reflections setting unit 33 is checked, and until the total number of reflections in the radio wave path exceeds the set maximum number of reflections, the influence of multiple reflections is taken into consideration. The reflection scattering point on the surface is calculated and displayed.
[0131]
FIG. 51 is an explanatory diagram showing an operation example of the multiple scattering point calculation means 29 for multiple reflection on a plurality of reflection surfaces. In the figure, it is assumed that two reflecting surfaces 1 and 2 are designated as reflecting surfaces by the plural reflecting surface managing means 32 and the maximum number of reflections is set to 3 by the number-of-reflections setting means 33.
At this time, the path P that returns directly from the scattering reference point to the SAR_AThe scattering point for the position D on the radio wave image_ADisplay as A path P that reflects from the SAR on the reflection surface 2 (scattering reference point) and then reflects on the reflection surface 1 (reflection point 1) and returns to the SAR_B1And a path P that reflects from the SAR on the reflection surface 1 (reflection point 1) and then reflects on the reflection surface 2 (scattering reference point) and returns to the SAR_B2Are the same distance. Therefore, the path P_B1And pass P_B2Will appear as multiple scattering points at the same position in the radio wave image (they are combined). Pass P_B1And pass P_B2In this case, the light is reflected once by the reflection surface 1 and once by the reflection surface 2, so that the number of reflections in each pass is 2. When the multiple scattering point calculating means 29 counts the number of reflections of each radio wave in the path, it confirms that the value does not exceed the upper limit value 3 set in the number of reflections setting means 33, and_B1And pass P_B2Is calculated by calculating the reflection scattering point for_BAt the position of.
[0132]
A path P is reflected from the SAR on the reflection surface 2 (scattering reference point), then reflected on the reflection surface 1 (reflection point 1), further reflected on the reflection surface 2 (scattering reference point), and returned to the sensor._C1A path P is reflected from the SAR on the reflection surface 1 (reflection point 1), then reflected on the reflection surface 2 (scattering reference point), further reflected on the reflection surface 1 (reflection point 1), and returned to the SAR._C2Are the same distance. Therefore, the path P_C1And pass P_C2Will appear as multiple scattering points at the same position in the radio wave image. Pass P_C1The number of reflections is 2 times on the reflection surface 1 and 1 time on the reflection surface 2 for a total of 3 times._C2The number of reflections is one on the reflection surface 1 and two on the reflection surface 2, for a total of three times. After counting the number of reflections in each pass, the multiple scattering point calculation means 29 confirms that the value does not exceed the upper limit 3 set in the number of reflections setting means 33, and_C1And pass P_C2Is calculated by calculating the reflection scattering point for_CAt the position of.
[0133]
Further, the light is reflected from the SAR on the reflection surface 2 (scattering reference point), then on the reflection surface 1 (reflection point 1), further on the reflection surface 2 (scattering reference point), and again on the reflection surface 1 (reflection point 1). ) Path P that returns to SAR after being reflected at_D1After reflecting from the SAR on the reflection surface 1 (reflection point 1), the light is reflected on the reflection surface 2 (scattering reference point), further reflected on the reflection surface 1 (reflection point 1), and again on the reflection surface 2 (scattering reference point). ) Path P that returns to SAR after being reflected at_D2Are the same distance. Therefore, the path P_{D 1}And pass P_D2Will appear as multiple scattering points at the same position in the radio wave image. These paths P_D1And pass P_D2Is twice on the reflecting surface 1 and twice on the reflecting surface 2, for a total of four times. When the multiple scattering point calculating means 29 counts the number of reflections of each radio wave in the path, it confirms that the value has exceeded the upper limit value 3 set in the number of reflections setting means 33, P_D1And pass P_D2Are not displayed. Similarly, the reflection scattering point is not displayed for a path having a larger number of reflections.
[0134]
As described above, according to the twenty-third embodiment, the upper limit value is set for the total number of times of reflection on the reflection surface appearing as a multiple scattering point on the radio wave image due to the radio wave path that returns from the SAR and returns. When sequentially calculating the reflection points from the range of the set plurality of reflection surfaces, the number of reflections on the path of each radio wave used for calculation was counted, and the count did not exceed the set upper limit. Since only the reflection points are displayed, the multiple scattering points can be easily displayed even in the case where the light is reflected multiple times on a plurality of reflection surfaces, and the effect of efficiently performing the investigation work on site can be obtained.
[0135]
Embodiment 24 FIG.
FIG. 52 is a block diagram showing a configuration of a ground truth support device according to a twenty-fourth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The apparatus according to the twenty-fourth embodiment has a configuration obtained by adding the multiple reflection surface position / altitude estimation means 34 to the first embodiment. This is a means for calculating the position and altitude of a reflection point that causes multiple scattering from the position and height of a reference point (hereinafter, a scattering reference point) that reflects the radio wave specified above.
[0136]
Here, the user of the apparatus uses the display means 9 and the input means 10 to specify the position (coordinates) and height of the scattering reference point that reflects the radio wave on the map, and to specify a plurality of multiplexes on the radio wave image. Specify the scattering point. Note that the multiple scattering points specified here are a scattering point (standard scattering point) corresponding to the position of the scattering reference point and a multiple scattering point that appears immediately adjacent thereto. Upon receiving these designation results via the terminal control means 5, the multiple reflection surface position / altitude estimating means 34 calculates the position and altitude of the reflection point causing multiple scattering. The calculation method will be described with reference to FIG.
The multi-reflection surface position / altitude estimating means 34 first measures the scattering points from the imaging / reproduction information of the radio wave image information management means 8 via the terminal control means 5 based on the multiple scattering points inputted on the radio wave image. To obtain the SAR position information. Further, a distance between multiple scattering points appearing immediately adjacent to the standard scattering point (this distance is referred to as a reflection moving distance T) is obtained from the imaging / reproduction information. Since the two multiple scattering points have the same radio wave irradiation direction, they appear on the radio wave image as a distance difference between the paths through which the radio waves pass. Therefore, if both positions are specified on the radio wave image, the distance between them, that is, the reflection movement distance T can be calculated. The altitude h1 of the SAR is obtained from the SAR position information. Further, based on the position (coordinates) and height of the scattering reference point input on the map, the height h2 of the scattering reference point, the linear distance r1 between the SAR and the scattering reference point, and the distance (SAR and scattering The distance d0 between the position of the reference point and the altitude 0) is obtained.
[0137]
Next, the multiple-reflection-surface-position-altitude estimating means 34 calculates the distance d1 on the map between the SAR and the reflection point, the distance d2 on the map between the scattering reference point and the reflection point, and the height H of the reflection point from the following three equations. I do.

Here, Expression (1) is defined from two similar triangles, assuming that the incident angle and the reflection angle at the reflection point are the same. Equation (2) defines that the reflected movement distance T is the distance difference between the two multiple scattering points on the path through which the radio wave passes. Equation (3) is defined assuming that the reflection point is on the straight line between the SAR and the scattering reference point.
The multiple-reflection-surface-position-altitude estimating means 34 refers to the position (coordinate) of the scattering reference point input on the map from the calculated values of d1, d2, and H, and determines the position (coordinate) of the reflection point and the altitude. Get. Finally, the multiple reflection surface position / altitude estimating means 34 instructs the display means 9 via the terminal control means 5 to display the calculated position (coordinate) and altitude of the reflection point on the map. In the display in this case, the position (coordinates) of the reflection point is displayed as an icon (a circle or the like if the scattering point is a star) with a different shape from the scattering point, and the altitude is displayed as a numerical value immediately beside the icon. I do.
[0138]
As described above, according to the twenty-fourth embodiment, based on the multiple scattered points of two adjacent points designated on the radio wave image, the position information of the SAR and the radio wave at the time of the scattering point measurement from the imaging / reproduction information are obtained. The irradiation direction is obtained, the altitude h1 of the SAR is obtained from the obtained position information, and the distance difference between the paths through which the radio waves are irradiated in the radio wave irradiation direction is calculated as the distance T between the two multiple scattering points. From the position and height of the designated scattering reference point, calculate the height h2 of the scattering reference point, the linear distance r1 between the SAR and the scattering reference point, and the distance d0 on the map between the SAR and the scattering reference point, The altitude h1 of the obtained SAR, the distance T between the two points of the multiple scattering points, the altitude h2 of the scattering reference point, the linear distance r1 between the SAR and the scattering reference point, and the distance on the map between the SAR and the scattering reference point. Causes multiple scattering with SAR using d0 The distance d1 on the map from the reflection point, the distance d2 on the map between the scattering reference point and the reflection point, and the height H of the reflection point are calculated, and the calculated distances d1, d2 and the value of the height H are calculated. Then, the position and altitude of the reflection point are obtained by referring to the position of the scattering reference point specified on the map, and are displayed on the map. Therefore, the location causing multiple scattering can be easily estimated, and the effect of efficiently performing ground truth can be obtained. In addition, it is possible to know the altitude at the time of imaging of a reflection point that causes multiple scattering, and to obtain an effect of estimating the height at the time of imaging when the reflection point is a water surface or the like whose height changes.
In the twenty-fourth embodiment, an example has been described with respect to the first embodiment. However, the multiple reflection surface position / altitude estimating means 34 may be applied to the second to the twenty-third embodiments. The effect can be achieved.
[0139]
Embodiment 25 FIG.
FIG. 54 is a block diagram showing a configuration of a ground truth support device according to a twenty-fifth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The device according to the twenty-fifth embodiment has a configuration obtained by adding a reference image calling means 35 to the first embodiment. The reference image calling unit 35 generates a reference radio image for comparison with the radio wave image to be investigated, or selects a reference radio image by referring to a database and displays it on the display unit 9. Means.
[0140]
It is conceivable that the reference image calling unit 35 generates a reference radio wave image by performing a simulation when conditions relating to a survey target, for example, a structure of a structure and an irradiation method of radio waves are input. As another method, some radio wave images may be stored as a database in advance, and a reference image may be selected and displayed on the screen of the display unit 9. In addition, a function of displaying background data such as grassland in combination with a structure may be provided. Further, when displaying a reference radio wave image, the radio wave image may be displayed in comparison with a survey target on an actual radio wave image.
[0141]
In some cases, the reference image calling unit 35 requires processing with a large calculation load, such as a simulation or a database, or accumulation of a large amount of data. When the ground truth support device 1 is a portable terminal, there is a limit in the calculation capability and the data storage capacity. Therefore, as shown in FIG. 55, the reference image calling means 35 may be separately mounted on the ground truth support device 1 and the ground truth support center 36. In this case, a calculation facility or a master database for processing with a large calculation load is prepared in the ground truth support center 36 side, and the ground truth support device 1 calls up and uses it when necessary. Communication between the ground truth support device 1 and the ground truth support center 36 can be realized by using an appropriate communication means capable of exchanging data when necessary. For example, it is conceivable to use wireless communication using radio waves from a mobile phone or the like, or use wired communication via a public phone or the like.
Note that the map information means 7 and the radio wave image information management means 8 and the like may also hold large data, and these are also mounted on the ground truth support center 36 as in the case of the reference image calling means 35 and communicated using communication means. Data exchange may be performed. This is applicable to each embodiment.
[0142]
As described above, according to the twenty-fifth embodiment, when a condition relating to a survey target is input, a reference radio image is generated by simulation or a reference radio image is selected by referring to a database. Since the actual radio wave image of the survey target is compared with the reference radio wave image, it is possible to perform the on-site survey, and the effect of efficiently performing the ground truth can be obtained.
Although the twenty-fifth embodiment has been described with reference to the example of the first embodiment, the reference image calling means 35 may be applied to the second to the twenty-fourth embodiments, and the same effects as described above can be obtained. be able to. For example, the object shape setting means 26 of the eighteenth embodiment can use a reference radio wave image as an input of a specific shape.
[0143]
Embodiment 26 FIG.
In a radio wave image, an image to be photographed may change greatly depending on weather conditions at the time of imaging. For example, on the water surface, the strength of the wind changes the waves on the surface, and the magnitude of backscattering of the radio waves changes. When the wind is strong, the waves are clearly visible on the image, but when there is no wind, the radio waves are reflected in the traveling direction and the backscatter is small, and the image is reflected as a flat surface like a mirror. Further, the magnitude of the reflection of the radio wave changes depending on whether or not the water surface is frozen. In addition, even if an artificial structure is under construction or dismantling, the magnitude of the reflection of radio waves differs from that of a completed structure. Therefore, the radio wave image generated or selected by the reference image calling means 35 described in the twenty-fifth embodiment may not always be appropriate for use. The twenty-sixth embodiment provides a means for addressing such a problem.
[0144]
FIG. 56 is a block diagram showing a configuration of a ground truth support device according to a twenty-sixth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 54 are denoted by the same reference numerals, and the description thereof will be omitted in principle. The apparatus according to the twenty-sixth embodiment has a configuration obtained by adding an observation situation setting means 37 to the twenty-fifth embodiment. The observation status setting means 37 is a means for presetting parameters according to the observation status when the radio wave image to be investigated was photographed.
[0145]
For the reference radio wave image, prepare parameters according to the observation situation at the time of shooting it, such as the reflectance of the radio wave on the water surface according to the wind strength, the reflectance of the water surface depending on the possibility of freezing, etc. deep. These parameters are recorded and set in the observation status setting means 37 via the terminal control means 5 when the user of the apparatus inputs them using the display means 9 and the input means 10. Next, the reference image calling means 35 refers to the observation condition setting means 37 when generating or selecting a reference radio wave image, calls a corresponding parameter, and selects and sets a reference radio wave image for selection and generation. Use as a condition.
[0146]
As described above, according to the twenty-sixth embodiment, parameters corresponding to observation conditions when radio wave images to be surveyed are taken are set in advance, and corresponding reference images are set using the set parameters. Since selection and generation are performed, it is possible to obtain an effect of appropriately obtaining a reference radio wave image while setting these parameters during a field survey.
[0147]
Embodiment 27 FIG.
FIG. 57 is a block diagram showing a configuration of a ground truth support device according to a twenty-seventh embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted in principle. The device according to the twenty-seventh embodiment has a configuration obtained by adding the reference information searching means 38 to the first embodiment. The reference information searching means 38 is a means for searching a database inside or outside the apparatus for information to be used in the field survey.
[0148]
Since the on-site investigation activities are often performed after radio wave images are taken, the local conditions may change between the time of imaging and the time of investigation activities over time. For example, information affecting radio wave images, such as weather conditions at the time of imaging, construction and dismantling information of structures, and the like, is required during the investigation activity. In such a case, the user of the apparatus calls up a search screen using the display unit 9 and the input unit 10 and inputs, for example, a keyword related to information to be referred to. Then, the reference information search unit 38 searches a database (not shown) in which information affecting the radio wave image is set in advance based on the keyword, and displays the search result data on the display unit 9. I do.
[0149]
The reference information search means 38 only needs to be able to search for reference information using an appropriate method. In addition to the above, a master database is placed in the ground truth support center 36 as shown in FIG. A configuration in which the information that is used as a reference is searched for by operating in conjunction with 1 may be used. Further, a configuration may be used in which a function of searching for information is added by connecting to the Internet or the like.
[0150]
As described above, according to the twenty-seventh embodiment, a database in which information affecting radio wave images is set in advance is searched, and reference information is selected and displayed. During the activity, information affecting the radio wave image can be easily obtained, and the effect of efficiently performing ground truth can be obtained.
In the twenty-seventh embodiment, an example of the first embodiment has been described. However, the reference information search means 38 may be applied to the second to the twenty-sixth embodiments, and the same effects as described above can be obtained. it can.
[0151]
Embodiment 28 FIG.
FIG. 58 is a block diagram showing a configuration of a ground truth support device according to a twenty-eighth embodiment of the present invention. In the drawing, the same or corresponding portions as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. The device according to the twenty-eighth embodiment has a configuration obtained by adding an image geometric correction unit 39 to the first embodiment. The image geometric correction unit 39 is a unit that performs the geometric correction of the radio wave image recorded in the radio wave image information management unit 8 using the height information recorded in the ground truth investigation data recording unit 3.
[0152]
As described above, the ground truth survey data recording means 3 records various data used when conducting a field survey using this device. Upon receiving an instruction input from the input unit 10, the image geometric correction unit 39 obtains the height and position information recorded in the ground truth investigation data recording unit 3 via the terminal control unit 5. Next, based on the obtained height and position information, a radio wave image corresponding to the information and imaging / reproduction information thereof are read out from the radio wave image information management means 8 via the terminal control means 5, and the radio wave image is read. Geometrically correct the position by height. In this case, the geometric correction is performed by determining the positions of the plurality of points on the image after the movement based on the height, and for example, using an affine transformation or the like. After that, the radio wave image subjected to the geometric correction is displayed on the display means 9 via the terminal control means 5.
[0153]
As described above, according to the twenty-eighth embodiment, the information on the height and the position recorded at the time of the on-site survey is obtained, and based on the information on the height and the position, the corresponding radio wave image recorded and its imaging / reproduction are reproduced. By referring to the information, a radio wave image whose position by height was geometrically corrected was created, and the radio wave image with its geometric correction was displayed, so that the radio wave image could be confirmed accurately, and ground truth could be efficiently used. The effect that can be obtained is obtained.
This embodiment has been described as an example applied to the first embodiment, but the image geometric correction means 39 may be applied to the second to the twenty-seventh embodiments, and the same effects as described above can be obtained. Can be.
[0154]
Embodiment 29 FIG.
Since the map and the radio wave image have different coordinate systems and the like, when calculating the corresponding position, a displacement occurs between the two due to distortion. This distortion indicates a rounding error due to a coordinate system conversion calculation, and a position information calculation error automatically calculated from data including a position information measurement error during SAR imaging. In the twenty-ninth embodiment, when position information is converted across different coordinate systems such as a map and a radio wave image, the calculation error of the position information is corrected based on actual observation information.
FIG. 59 is a block diagram showing a configuration of a ground truth supporting apparatus according to a twenty-ninth embodiment of the present invention. In the figure, the same or corresponding parts as in FIG. The apparatus according to the twenty-ninth embodiment has a configuration obtained by adding a radio wave image-to-map position conversion information correcting means 40 to the first embodiment. The radio wave image-to-map position conversion information correction means 40 calculates the correspondence between the radio wave image and the position on the map using the radio wave / map position conversion means 4 from the input map and a plurality of corresponding points on the radio wave image. This is a means for correcting the calculation to be performed.
[0155]
FIG. 60 is an explanatory diagram showing an outline of the operation according to the twenty-ninth embodiment.
First, as shown in FIGS. 60A and 60B, the user of the apparatus uses the display means 9 and the input means 10 to obtain accurate information on the map and the radio wave image displayed on the display means 9. Input a plurality of corresponding points (stars) whose corresponding positions are known.
Here, as the input radio wave image and the corresponding point candidate on the map, any one can be selected. However, in a situation where the correction has not been performed, it is also predicted that the positional relationship between the map and the radio wave image is largely shifted, and it may be difficult to select a candidate for the corresponding point. In such a case, it is conceivable to select a landmark, such as a bridge or a river, which can be easily recognized in a radio wave image and has a clear position on a map as a corresponding point candidate. Alternatively, a structure such as a corner reflector, which serves as a reference for specifying a position on the radio wave image, may be placed in advance at the radio wave image capturing location, and may be used as a candidate for a corresponding point.
[0156]
The radio wave image-to-map position conversion information correction means 40 receives the input information of the plurality of corresponding points (stars) via the terminal control means 5 and passes the information to the radio wave / map position conversion means 4 to receive the information on the received map. The position on the radio wave image with respect to a plurality of positions is calculated. Next, the radio wave image-to-map position conversion information correction means 40 receives the calculation result from the radio wave / map position conversion means 4 and a plurality of corresponding points (stars) on the radio wave image input first and the calculation result of this calculation result. An error from the position on the radio wave image is calculated. Further, the radio wave image-to-map position conversion information correction means 40 determines a correction method for position calculation using affine transformation or the like based on the calculated error. Finally, the radio wave image-to-map position conversion information correction means 40 corrects the radio wave image calculated by the radio wave / map position conversion means 4 and the method of calculating the position on the map. After this correction, the radio wave / map position conversion means 4 calculates the correspondence between the radio wave image and the map by the corrected calculation method.
[0157]
As described above, according to the twenty-ninth embodiment, when a plurality of corresponding points corresponding to each other on the displayed map and the radio wave image are input, the radio wave image corresponding to the plurality of corresponding points on the input map is displayed. Calculate the position of each, and calculate the error between the plurality of corresponding points on the first input radio wave image and the calculated position on the radio wave image, and use affine transformation etc. based on the calculated error The correction method for position calculation was determined, the calculated radio wave image and the position calculation method on the map were corrected, and the correspondence between the radio wave image and the map was calculated using the corrected calculation method. The correspondence between the upper positions can be shown more accurately, and the effect of efficiently performing the ground truth can be obtained.
Although the twenty-ninth embodiment has been described with reference to the example applied to the first embodiment, the radio wave image-to-map position conversion information correction means 40 may be applied to the second to twenty-eighth embodiments. The same effects as above can be obtained.
[0158]
Embodiment 30 FIG.
FIG. 61 is a block diagram showing a configuration of a ground truth support device according to a thirtieth embodiment of the present invention. In the drawing, the same or corresponding parts as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. The device according to the thirtieth embodiment has a configuration in which a radio wave irradiation direction display means 41 is added to the first embodiment. The radio wave irradiation direction display means 41 is means for calculating the radio wave irradiation direction on the map.
[0159]
First, the radio wave irradiation direction display means 41 obtains information on the position of the SAR and the radio wave irradiation direction from the imaging / reproduction information of the radio wave image information management means 8 via the terminal control means 5. Next, the radio wave irradiation direction display means 41 uses the radio wave / map position conversion means 4 via the terminal control means 5 to calculate the radio wave irradiation direction on the map. Finally, the radio wave irradiation direction display means 41 instructs the display means 9 via the terminal control means 5 to display the calculated radio wave irradiation direction on the map.
Although the example in which only the irradiation direction of the radio wave is displayed has been described, information on the irradiation angle (incident angle) of the radio wave can also be obtained. Therefore, the incident angle may be displayed together with the irradiation direction.
[0160]
As described above, according to Embodiment 30, using the information on the SAR position and the radio wave irradiation direction obtained from the imaging / reproduction information, the radio wave irradiation direction is converted into the radio wave irradiation direction on the map, Since the radio wave irradiation direction is displayed on the map, it is easy to confirm the radio wave irradiation direction at the site where the survey is performed, and the effect of efficiently performing ground truth can be obtained.
Note that, in the thirtieth embodiment, an example in which the present invention is applied to the first embodiment has been described. However, the radio wave irradiation direction display means 41 may be applied to the second to the twenty-ninth embodiments. Effects can be achieved.
[0161]
【The invention's effect】
As described above, according to the present invention, the ground truth support device according to the present invention includes a positioning unit that obtains position information indicating a current position, and map information that manages map information of a target area and information related to the map. Means, radio wave image information management means for holding and managing radio wave images to be investigated and imaging / reproduction information relating to photographing and reproduction of the radio wave images, and correspondence between radio wave images and maps by referring to the imaging / reproduction information Radio wave / map position conversion means for converting and calculating a position to be calculated, and read from the map information means in association with position information obtained from the positioning means or input from the input means by the radio wave / map position conversion means. In the ground truth support device displaying the map and the radio wave image read out from the radio wave image information management means, the position specified on the displayed radio wave image The amount of correction of the position coordinates on the map is calculated based on the position information and the position of the radio wave sensor at the time of capturing the radio wave image obtained from the position information and the imaging / reproduction information, and the corrected position coordinates are calculated. Since it is configured to include the radio wave image designation four shortening correction means, the position on the radio wave image and the position on the map can be accurately corresponded, and especially, the ground of the radio wave image in an urban area where there are many artificial structures. When a field survey is performed by using a truth, a position on a map in which the influence of the height of the structure is automatically corrected can be obtained, so that the field survey can be performed more efficiently.
[0162]
According to the present invention, a radio wave image photographed by a radio wave sensor, an imaging / reproduction information storage device that stores imaging / reproduction information such as related information of the radio image and image reproduction information, and map data of each region are stored. A ground truth support program applied to a computer having a map information storage device and a built-in or external positioning means for obtaining position information indicating a current position, wherein the program is adapted to correspond to imaging / playback information based on the position information. While obtaining the radio wave image of the area, the map data of the corresponding area is obtained from the map information storage device and displayed on the display means, and the input means specifies an arbitrary position on the displayed radio wave image, When the height for the specified position is input, the position coordinates on the map corresponding to the radio wave image are corrected from the specified position. Calculated as, the specified position and height, based on the position coordinates of the radio sensor and the pre-correction position coordinates when the radio wave image indicating the specified position is captured, the Since the corrected position coordinates corrected for the height-dependent displacement are calculated and the calculated corrected position coordinates are displayed on a map, it is applied to a general-purpose notebook computer to realize a ground truth support device. The position on the radio wave image and the position on the map can be accurately associated with each other, and the field survey can be performed more efficiently.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a ground truth support device according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing an operation procedure of the device according to the first embodiment.
FIG. 3 is a flowchart showing an operation procedure of a radio wave image designation four shortening correction unit according to the first embodiment.
FIG. 4 is an explanatory diagram showing correspondence between a radio wave image and a position on a map according to the first embodiment.
FIG. 5 is an explanatory diagram schematically showing a shooting state of a sample image according to the first embodiment.
FIG. 6 is an explanatory diagram showing a display example of a map after initialization for a sample image according to the first embodiment;
FIG. 7 is an explanatory diagram showing a display example of a radio wave image after initialization with respect to the sample image according to the first embodiment;
FIG. 8 is an explanatory diagram for explaining displacement of a position due to height according to the first embodiment.
FIG. 9 is an explanatory diagram showing an outline of correction of a positional shift on a map according to the height according to the first embodiment;
FIG. 10 is an explanatory diagram showing a display example of the ground truth support device according to the first embodiment;
FIG. 11 is a block diagram showing a configuration of a ground truth support device according to the second embodiment.
FIG. 12 is a flowchart showing an operation procedure of the device according to the second embodiment.
FIG. 13 is a flowchart showing an operation procedure of a map designation four shortening correction unit according to the second embodiment.
FIG. 14 is an explanatory diagram showing correction of a position shift on a radio wave image due to a height according to the second embodiment.
FIG. 15 is a block diagram showing a configuration of a ground truth support device according to the third embodiment.
FIG. 16 is a block diagram showing a configuration of a ground truth support device according to the fourth embodiment.
FIG. 17 is an explanatory diagram showing an outline of position correction based on height information specifying an area according to the fourth embodiment.
FIG. 18 is a block diagram showing a configuration of a ground truth support device according to the fifth embodiment.
FIG. 19 is a block diagram showing a configuration of a ground truth support device according to the sixth embodiment.
FIG. 20 is a block diagram showing a configuration of a ground truth support device according to the seventh embodiment.
FIG. 21 is a block diagram showing a configuration of a ground truth support device according to the eighth embodiment.
FIG. 22 is a block diagram showing a configuration of a ground truth support device according to a ninth embodiment of the present invention.
FIG. 23 is an explanatory diagram schematically showing an observation situation according to Embodiment 9;
FIG. 24 is an explanatory diagram showing an overview of position display on a map specifying a height range according to Embodiment 9;
FIG. 25 is a block diagram showing a configuration of a ground truth support device according to the tenth embodiment.
FIG. 26 is an explanatory diagram showing an example of position display on a map specifying a height range according to Embodiment 10;
FIG. 27 is a block diagram showing a configuration of a ground truth support device according to the eleventh embodiment.
FIG. 28 is a flowchart showing an operation procedure of the device according to the eleventh embodiment.
FIG. 29 is a flowchart showing an operation procedure of the reflection position / altitude estimating means according to the eleventh embodiment.
FIG. 30 is an explanatory diagram showing an outline of a method for obtaining a height according to Embodiment 11;
FIG. 31 is an explanatory diagram showing an outline of a procedure for obtaining a height according to the eleventh embodiment;
FIG. 32 is a block diagram showing a configuration of a ground truth support device according to a twelfth embodiment.
FIG. 33 is an explanatory diagram showing an outline of the operation according to the twelfth embodiment.
FIG. 34 is a block diagram showing a configuration of a ground truth support device according to the thirteenth embodiment.
FIG. 35 is an explanatory diagram illustrating a difference between an image obtained by an optical sensor and an image obtained by a radio wave sensor.
FIG. 36 is an explanatory diagram showing a method of calculating a distance on a radio wave image according to Embodiment 13;
FIG. 37 is a block diagram showing a configuration of a ground truth support device according to Embodiment 14;
FIG. 38 is a block diagram showing a configuration of a ground truth support device according to the fifteenth embodiment.
FIG. 39 is a block diagram showing a configuration of a ground truth support device according to a sixteenth embodiment.
FIG. 40 is an illustration showing a method of calculating an angle by the upside-down inversion slope calculating means according to Embodiment 16;
FIG. 41 is a block diagram showing a configuration of a ground truth support device according to a seventeenth embodiment.
FIG. 42 is an explanatory diagram showing a height calculating method according to Embodiment 17;
FIG. 43 is a block diagram showing a configuration of a ground truth support device according to the eighteenth embodiment.
FIG. 44 is a block diagram showing a configuration of a ground truth support device according to the nineteenth embodiment.
FIG. 45 is an explanatory diagram showing a multiple reflection targeted by the nineteenth embodiment;
FIG. 46 is an explanatory diagram showing an outline of the operation according to the nineteenth embodiment.
FIG. 47 is a block diagram showing a configuration of a ground truth support device according to the twentieth embodiment.
FIG. 48 is a block diagram showing a configuration of a ground truth support device according to the twenty-first embodiment.
FIG. 49 is a block diagram showing a configuration of a ground truth support device according to Embodiment 22 of the present invention.
FIG. 50 is a block diagram showing a configuration of a ground truth support device according to Embodiment 23.
FIG. 51 is an explanatory diagram showing an outline of the operation according to Embodiment 23.
FIG. 52 is a block diagram showing a configuration of a ground truth support device according to Embodiment 24.
FIG. 53 is an explanatory diagram showing an outline of a calculating operation of the reflecting surface position / altitude estimating means according to Embodiment 24;
FIG. 54 is a block diagram showing a configuration of a ground truth support device according to the twenty-fifth embodiment.
FIG. 55 is an explanatory diagram showing an example of implementation according to the 25th embodiment;
FIG. 56 is a block diagram showing a configuration of a ground truth support device according to Embodiment 26.
FIG. 57 is a block diagram showing a configuration of a ground truth support device according to Embodiment 27.
FIG. 58 is a block diagram showing a configuration of a ground truth support device according to Embodiment 28.
FIG. 59 is a block diagram showing a configuration of a ground truth support device according to Embodiment 29.
FIG. 60 is an explanatory diagram showing an outline of the operation according to Embodiment 29.
FIG. 61 is a block diagram showing a configuration of a ground truth support device according to the thirtieth embodiment.
[Explanation of symbols]
1 ground truth support device, 2 radio wave image designation for shortening correction means, 3 ground truth investigation data recording means, 4 radio wave / map position conversion means, 5 terminal control means, 6 positioning means, 7 map information means, 8 radio wave image information management Means, 9 display means, 10 input means, 11 map designation for shortening correction means, 12 area designation means, 13 database item setting means, 14 survey report recording means, 15 optical information recording means, 16 reflection intensity / height recording means, 17 radio wave image designated position candidate enumeration means, 18 map designated position candidate enumeration means, 19 reflection position altitude estimation means, 20 map shadow area calculation means (shadow area calculation means), 21 upside-down inversion area calculation means, 22 radio wave shadow area calculation means (Shadow area calculation means), 23 upside down radio wave shadow area synthesis means, 24 upside down inversion oblique Calculation means, 25 radio shadow area map position calculation means, 26 object shape setting means, 27 radio shadow area control means, 28 reflection surface designation means, 29 multiple scattering point calculation means, 30 reflection surface height setting means (reflection surface management means) 31 reflection angle setting means (reflection surface management means), 32 plural reflection surface management means (reflection surface management means), 33 reflection number setting means (reflection surface management means), 34 multiple reflection surface position altitude estimation means, 35 reference image Calling means, 36 ground truth support center, 37 observation situation setting means, 38 reference information search means, 39 image geometric correction means, 40 radio wave image-to-map position conversion information correction means, 41 irradiation direction display means.

Claims (26)

Positioning means for obtaining location information indicating the current location;
Map information means for managing map information of the target area and information related to the map,
A radio wave image information management unit that holds and manages radio wave images to be investigated and imaging / reproduction information relating to the radio wave images at the time of photographing and image reproduction,
A radio wave / map position conversion means for calculating a position corresponding to the radio wave image and the map by referring to the imaging / playback information,
The radio wave / map position conversion means displays a map read from the map information means and a radio wave image read from the radio wave image information management means in association with position information obtained from the positioning means or input from the input means. In the ground truth support device,
From the position and height information specified on the displayed radio wave image, based on the position information and the position of the radio wave sensor at the time of photographing the radio wave image obtained from the imaging / reproduction information, the position coordinates on the map are calculated. A ground truth support device, comprising: a radio wave image designation four shortening correction means for obtaining a correction amount and calculating a corrected position coordinate. From the position coordinates and height information specified on the map, the position coordinates on the radio wave image are obtained using the position information and the radio wave / map position conversion means, and the radio wave obtained from the height information and the imaging / reproduction information is obtained. A map designation four shortening correction means for obtaining a correction amount of a position on the radio wave image based on a position of the radio wave sensor at the time of capturing the image, and calculating a corrected position on the radio wave image. 2. The ground truth support device according to 1. From the information on the area within a certain range specified on the map or radio wave image and the height of that area, the position correction amount on the radio wave image or map on the corresponding area is obtained, and on the radio wave image after correction or 3. The ground truth support device according to claim 1, further comprising an area designating unit for calculating a position of the area on the map. It operates in conjunction with the optical information device and operates based on the image information obtained from the optical information device and the shooting position and shooting direction of the optical image input on the map or radio wave image used on the device. 3. The ground truth support device according to claim 1, further comprising optical information recording means for recording the information in association with the information. Operates in conjunction with an observation device that observes the reflection intensity and height of the radio wave of the target object, and inputs information on the height of the observation target and the reflection intensity of the radio wave obtained from the observation device, and on a map or radio wave image. The ground truth support device according to claim 1 or 2, further comprising a reflection intensity / height recording means for recording the information on the observed position and the observation direction in association with each other. When the height range is set for the point specified on the radio wave image, the radio wave image information management means, radio wave / map position conversion means, radio wave image designation for shortening correction means and map information means set the height range. Radio wave image designated position candidate enumeration means for calculating the corrected position coordinates on the map corresponding to the height range and displaying the corrected position coordinates calculated corresponding to each height on the map The ground truth support device according to claim 1, wherein: When the height range is set for the designated point on the map, the height set by the radio wave image information management means, radio wave / map position conversion means, map designation for shortening correction means, map information means And a map designation position candidate enumeration means for calculating the radio wave image corrected position corresponding to the range and displaying the calculated radio wave image corrected position corresponding to each height on the radio wave image. The ground truth support device according to claim 2. 3. The ground truth support device according to claim 2, further comprising a reflection position altitude estimating means for calculating a height of the designated point by designating a position on the map and a radio wave image with respect to the same point. From the information on the position and height of the object that generates the shadow specified on the map or on the radio wave image, on the map or on the radio wave image, the area to be the shadow of the radio wave from the radio wave sensor and the shadow to calculate its height 3. The ground truth support device according to claim 1, further comprising a region calculation unit. Upside-down inversion area calculation means for calculating an area that appears to be upside down compared to the optical image on the map or on the radio wave image from information on the position and height of the object specified on the map or on the radio wave image The ground truth support device according to claim 1 or 2, wherein: From the information of the position and height of the object specified on the map or on the radio wave image, upside-down inversion area calculation means for calculating an area that looks upside down compared to the optical image on the map or on the radio wave image,
10. The ground according to claim 9, further comprising upside-down inverted radio shadow area synthesizing means for synthesizing an area which becomes a shadow of the radio wave calculated by the radio shadow area calculating means and the height thereof and the area which is viewed upside down. Truth support device. Vertical reversal slope calculation that calculates the angle of the slope where the image appears upside down on the map or radio image from the information on the position and height of the object specified on the map or radio image. 3. The ground truth support device according to claim 1, further comprising means. It is provided with a radio shadow area map position calculating means for calculating a position where the area appears on a map and its altitude from information on a shadow area of a radio wave from a radio wave sensor designated on the radio wave image. The ground truth support device according to claim 1. Object shape setting means for defining the shape of the object assuming that the radio wave is not backscattered,
It is characterized by comprising a radio wave shadow area control means for calculating a region where a shadow of a radio wave by this object appears on a radio wave image from information on a position where the object defined by the object shape setting means is designated on the map. The ground truth support device according to claim 9. Reflection surface designating means for designating a range of a reflection surface that causes multiple scattering on a map,
Multiple scattering point calculating means for calculating multiple scattering points appearing on a radio wave image from information on the position and height of the scattering reference point specified on the map, taking into account the reflecting surface specified by the reflecting surface specifying means The ground truth support device according to claim 2, comprising: A plurality of target regions are specified for the region causing multiple scattering specified by the reflecting surface specifying means, and the height of each target region, the angle to the horizontal plane and the size of the reflection angle, the total number of reflections on the reflecting surface The reflection surface management means for setting the upper limit of the reflection surface management means, and the multiple scattering point calculation means calculates the reflection scattering point according to the setting condition of the reflection surface management means. Ground truth support device. Calculates the position and altitude on the map of the reflection point that causes multiple scattering from the information on the position and height of the multiple scattering points specified on the radio wave image and the reference point that reflects the radio wave specified on the map 2. The ground truth support apparatus according to claim 1, further comprising: a multi-reflection surface position / altitude estimating means for performing the operation. Observation situation setting means for presetting parameters according to the observation situation when radio wave images of the survey target were taken,
Reference condition calling means for generating a reference radio wave image by simulation using the above parameters when conditions relating to the survey target are input, or selecting and displaying a reference radio wave image by referring to a database. The ground truth support device according to claim 1 or 2, further comprising: 3. The ground truth according to claim 1, further comprising a reference information search unit for searching a database in which information affecting radio wave images is set in advance, and selecting and displaying reference information. Support equipment. Equipped with a radio wave image to map position conversion information correction unit that corrects the calculation by the radio wave / map position conversion unit that calculates the correspondence between the radio wave image and the position on the map by inputting multiple corresponding points of the map and the radio wave image. The ground truth support device according to claim 1 or 2, wherein: Using the information on the position of the radio wave sensor and the irradiation direction of the radio wave obtained from the imaging / reproduction information, the radio wave / map position conversion means calculates the irradiation direction of the radio wave on the map, and the calculated irradiation direction of the radio wave on the map The ground truth support device according to claim 1 or 2, further comprising a radio wave irradiation direction display means for displaying a radio wave. 3. A ground truth investigation data recording means for recording the contents of the investigation of the ground truth in association with the position of the map or the radio wave image, the input date and time, the photographing information of the radio wave image and the like. Ground truth support device. A database item setting means for setting a category of information to be recorded in the ground truth investigation data recording means in order to link with an image database for recognition used when analyzing and reading radio wave images. The ground truth support device according to claim 22. The radio wave image obtained by obtaining the height information recorded in the ground truth survey data recording means, reading the radio wave image and the imaging / playback information corresponding to the height information from the radio wave image information management means, and geometrically correcting the position according to the height. 23. The ground truth support device according to claim 22, further comprising an image geometric correction unit that generates the image. An imaging / playback information storage device that stores imaging / playback information such as radio wave images taken by a radio wave sensor, related information of those radio wave images, and image reproduction information; and a map information storage device that stores map data of each region. A ground truth support program applied to a computer using a built-in or external positioning means for obtaining position information indicating a current position,
A radio wave image of a corresponding area is obtained from the imaging / reproduction information based on the position information, and map data of the corresponding area is obtained from the map information storage device and displayed on a display unit,
When an arbitrary position on the displayed radio wave image is designated by the input means, and when a height for the designated position is inputted, the position coordinates on the map corresponding to the radio wave image from the designated position are inputted. Is calculated as the pre-correction position coordinates,
The specified position and height, the height of the position specified for the pre-correction position coordinates, based on the position coordinates of the radio wave sensor and the pre-correction position coordinates at the time of capturing the radio wave image indicating the specified position. Calculate the corrected position coordinates after correcting the displacement due to
A ground truth support program that displays the calculated corrected position coordinates on a map. An imaging / playback information storage device that stores imaging / playback information such as radio wave images taken by a radio wave sensor, related information of those radio wave images, and image reproduction information; and a map information storage device that stores map data of each region. A ground truth support program applied to a computer using a built-in or external positioning means for obtaining position information indicating a current position,
Based on the position information, obtain map data of the corresponding area from the map information storage device, obtain a radio wave image of the corresponding area from the imaging / reproduction information, and display it on the display unit,
By the input means, when the information of the position coordinates and the height on the displayed map is specified and input, the position on the radio wave image corresponding to the specified position coordinates is calculated as the position before the radio wave image correction,
The position of the radio wave sensor at the time of imaging obtained from the imaging / reproduction information based on the position before radio wave image correction, and the displacement due to the height of the position on the radio wave image using the information on the position and height before the radio wave image correction. To calculate the position after radio wave image correction,
A ground truth support program for displaying the position before radio wave image correction and the position after radio wave image correction on a radio wave image.

Images