JP2019211448A - Mutual position acquisition system - Google Patents

Abstract

To provide a mutual position acquisition system which can easily conduct a precise positional measurement even for a position difficult to measure precisely using a GNSS.SOLUTION: The mutual position acquisition system has a plurality of informatization poles PA, PB, PC, and P1 including: a GNSS transmitter, a marker attached to the outer surface of the own informatization pole as the identification information of its own; a geomagnetic sensor; an entire celestial sphere camera; and a sending/receiving unit. When the self position of the informatization pole P1 is impossible to be acquired by a GNSS, the informatization poles PA, PB, and PC with the known self positions take an image of an entire celestial sphere including a marker image of the informatization pole P1, calculate the three-dimensional direction from the self position of the informatization poles PA, PB, and PC to the informatization pole P1 on the basis of the geomagnetic direction of the geomagnetic sensor and the entire celestial sphere image, and calculate the self-position of the informatization pole P1 from the three-dimensional direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mutual position acquisition system capable of easily performing highly accurate position measurement even at a position where positioning cannot be performed with high accuracy using GNSS.

  Conventionally, highly accurate surveying can be performed using a GNSS (satellite positioning system). For example, it is possible to specify a highly accurate position using an RTK positioning method that is an interference positioning method.

  Japanese Patent Application Laid-Open No. 2004-228561 describes a technique for obtaining a 360-degree omnidirectional panoramic image by using an omnidirectional camera and performing peripheral monitoring.

JP 2017-41881 A

  However, in GNSS, if there is a high-rise building or the like at a position to be measured, a multipath in which received radio waves are reflected occurs, and an accurate position may not be acquired. In this case, the conventional surveying method is performed to measure the position where the accurate position cannot be obtained, but there is a problem that it takes time and effort.

  The present invention has been made in view of the above, and an object of the present invention is to provide a mutual position acquisition system capable of easily performing highly accurate position measurement even at a position where positioning cannot be performed with high accuracy using GNSS. And

  In order to solve the above-described problems and achieve the object, a mutual position acquisition system according to the present invention includes a self-position acquisition unit that acquires a self-position using GNSS, and a self-information pole as its identification information. Provided with a plurality of information poles having a marker attached to the external surface, a geomagnetic sensor, a omnidirectional camera, and a transmission / reception unit, the self-position of one information pole cannot be obtained using the GNSS In this case, each of three or more other information poles whose self-positions are known captures a spherical image including a marker image of the one information pole, and the geomagnetic sensor of the three or more other information poles Based on the magnetic direction of each place and the three omnidirectional images, the three-dimensional direction from the self-position of each other information pole to the one information pole is calculated, and the one information is calculated from the three-dimensional direction. And calculates its own position of the pole.

  In addition, the mutual position acquisition system according to the present invention includes a self-position acquisition unit that acquires a self-position using GNSS, a marker attached to an external surface of its own information pole as its identification information, a geomagnetic sensor, A plurality of computerized poles having an omnidirectional camera and a transmission / reception unit, and if one informationized pole cannot be obtained using the GNSS, the one computerized pole Captures a celestial sphere image including a marker image of three or more other information poles known in the art, and based on the geomagnetic direction of the geomagnetic sensor of the one information pole and the one celestial sphere image, A three-dimensional azimuth from one information pole to the self position of each other information pole is calculated, and the self position of the one information pole is calculated from the three-dimensional direction.

  Further, in the mutual position acquisition system according to the present invention, in the above invention, the positions of the three or more other information poles are fixed, the one information pole is movable, and the one information The position of the one information pole is calculated for each movement of the information pole.

  According to the present invention, when the self-position of one informationized pole cannot be obtained using the GNSS, each of the three or more other informationized poles whose self-positions are known has the marker image of the one informationized pole. The omnidirectional image is captured, and based on each magnetic orientation of the geomagnetic sensor of the three or more other information poles and the three omnidirectional images, the self-position of each of the other information poles When calculating the three-dimensional azimuth to one information pole and calculating the self-position of the one information pole from the three-dimensional azimuth, or if the self-position of one information pole cannot be obtained using the GNSS The one informational pole picks up a celestial sphere image including a marker image of three or more other informational poles whose self-position is known, and the geomagnetic direction of the geomagnetic sensor of the one informational pole and one Above Based on the celestial sphere image, a three-dimensional azimuth from the one informationized pole to the self-position of each other information-ized pole is calculated, and the self-position of the one information-ized pole is calculated from the three-dimensional azimuth. Therefore, even if the position cannot be measured with high accuracy using GNSS, position measurement with high accuracy can be easily performed.

FIG. 1 is a schematic diagram showing a configuration of a mutual position acquisition system according to an embodiment of the present invention. FIG. 2 is a diagram showing an external configuration of the information pole shown in FIG. FIG. 3 is a block diagram showing the configuration of the informationized pole shown in FIG. FIG. 4 is a schematic diagram showing the configuration of the GNSS used in the mutual position acquisition system shown in FIG. FIG. 5 is an explanatory diagram for explaining the calculation process of the self-position of the informationized pole whose self-position is unknown using the omnidirectional image of three or more information-oriented poles whose self-position is known. FIG. 6 shows the self-position of an informational pole whose self-position is unknown, using an omnidirectional image including a marker image of three or more information-oriented poles whose self-position is known. It is explanatory drawing explaining the calculation process of a position.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram showing a configuration of a mutual position acquisition system 1 according to an embodiment of the present invention. FIG. 2 is a diagram showing an external configuration of the informationized pole PA shown in FIG. Further, FIG. 3 is a block diagram showing a configuration of the informationized pole PA shown in FIG. FIG. 4 is a schematic diagram showing the configuration of the GNSS 2 used in the mutual position acquisition system 1 shown in FIG. Note that the GNSS 2 performs positioning using an RTK positioning method that is an interference positioning method.

  As shown in FIG. 1, the mutual position acquisition system 1 includes a plurality of information poles PA, PB, PC, and P1 that are mobile station groups 20. The informationized poles PA, PB, and PC are arranged in an area where the GNSS2 radio wave can be directly received, and the informationized pole P1 is arranged in a GNSS non-receiving area E1 where the GNSS2 radio wave cannot be directly received. The GNSS non-reception area E1 is, for example, next to a high-rise building or in a tunnel. The informationized poles PA, PB, and PC are arranged at fixed positions, and the informationized pole P1 can be moved.

  Information terminal devices 40 such as information poles PA, PB, PC, P1 and tablet terminals can communicate with each other by ad hoc communication, and are connected to a GNSS reference station 10 and a positioning server 30 via a network N.

  As shown in FIGS. 2 and 3, the informationized pole PA has a columnar structure in which the omnidirectional camera 21 for imaging 360 ° is provided on the head. A marker 24 is affixed to the external surface of the information pole PA as its own identification information. In addition, the information pole PA includes a GNSS receiver 22, a transmitter / receiver 23 that performs communication with the ad hoc communication and the network N, a geomagnetic sensor 25, a battery 26, and a controller C that performs overall control by connecting these components. Have. The configuration of the other information poles PB, PC, P1 is the same as that of the information pole PA. Further, the information poles PA, PB, PC, P1 can be erected. Note that the GNSS receiver 22 functions as a self-position acquisition unit that acquires the self-position using the GNSS.

  As shown in FIG. 4, in the GNSS 2, the information station PA, the positioning server 30, and the information terminal device 40 which are one of the reference station 10 and the mobile station group 20 are connected to the network N. Note that GNSS2 employs an RTK positioning method that is an interference positioning method, and therefore requires five GNSS (Global Navigation Satellite System) satellites S.

  The reference station 10 receives a signal transmitted from each GNSS satellite S via the GNSS antenna AT, and the GNSS observation information of the reference station 10 received by the receiver R1 as GNSS corrected observation information. The server 11 is sent to the positioning server 30 via On the other hand, the informationized pole PA sends the GNSS observation information received by the GNSS receiver 22 to the positioning server 30 via the network N. The positioning calculation unit 31 of the positioning server 30 calculates the position of the informationized pole PA based on the GNSS observation information received by the GNSS receiver 22 and the GNSS correction observation information sent from the reference station 10. Specifically, in the RTK positioning method, the position of the informationized pole PA is calculated based on the carrier phase between the receiver R1 and the GNSS receiver 22. However, since it is not known how many wave numbers of the carrier wave exist between the receiver R1 and the GNSS receiver 22, it is necessary to determine the wave number (integer value bias) of the existing carrier wave. The determination of the integer value bias is based on the GNSS correction observation information, and then a convergence solution is obtained after estimation. This convergent solution has a high accuracy with an error of about several centimeters.

  The positioning server 30 sends the calculated position of the informationized pole PA to the information terminal device 40. When there is an information pole P1 that cannot receive radio waves from the GNSS satellite S, that is, when there is an information pole P1 that does not transmit GNSS observation information, the positioning server 30 has three or more other self-positions known. Based on the omnidirectional image including the marker image of the marker 24 of the information pole P1 acquired by the information pole P, PB, PC and the geomagnetic direction of the geomagnetic sensor 25, the information poles PA, PB, PC The three-dimensional direction from the self position to the information pole P1 is calculated, and the self position of the information pole P1 is calculated from the three-dimensional direction. The positioning server 30 sends the calculated self-position of the informationized pole P1 to the information terminal device 40.

  Specifically, as shown in FIG. 5, the omnidirectional image DPA captured by the informationized pole PA includes a marker image MP1 of the informationized pole P1. The positioning server 30 calculates the three-dimensional azimuth A1 to the marker image MP1 with reference to the geomagnetic azimuth NA acquired by the geomagnetic sensor 25 with respect to the center position CPA of the omnidirectional image DPA. The marker image MP1 indicates a three-dimensional orientation from the center position CPA on the omnidirectional image DPA. Similarly, the positioning server 30 calculates the three-dimensional azimuth B1 to the marker image MP1 with respect to the center position CPB of the omnidirectional image DPB of the information pole PB with reference to the geomagnetic azimuth NA acquired by the geomagnetic sensor 25. . In addition, the positioning server 30 calculates a three-dimensional orientation C1 to the marker image MP1 with reference to the geomagnetic orientation NA acquired by the geomagnetic sensor 25 with respect to the center position CPC of the omnidirectional image DPC of the informationized pole PC. And the positioning server 30 specifies the position where each three-dimensional azimuth | direction A1, B1, C1 of information-ized pole PA, PB, PC cross | intersects as center position CP1 of information-ized pole P1.

<Modification>
In the processing shown in FIG. 5, the information poles PA, PB, and PC capture the omnidirectional images DPA, DPB, and DPC, respectively. However, in this modification, only the information pole P1 is the omnidirectional sphere. The center position CP1 of the information pole P1 is specified by capturing the image DP1.

  Specifically, as shown in FIG. 6, the omnidirectional image DP1 captured by the informationized pole P1 includes marker images MPA, MPB, and MPC of the informationized poles PA, PB, and PC. The positioning server 30 uses the geomagnetic sensor NA acquired by the geomagnetic sensor 25 as a reference for the center position CP1 of the omnidirectional image DP1 based on the omnidirectional image DP1 and outputs 3 to each marker image MPA, MPB, MPC. The dimension orientations 1A, 1B, and 1C are calculated. And the positioning server 30 specifies the position where each three-dimensional azimuth | direction 1A, 1B, 1C crosses from the position of information-ized pole PA, PB, PC as center position CP1 of information-ized pole P1.

  When the informationized pole moves, the informationized pole P1 whose position is unknown may be determined by repeating the above-described processing and specifying the center position CP1 as its own position. In this case, since the position of the information pole P1 is known, the information pole P1 is fixed in the same manner as the information poles PA, PB, PC, and the information poles or the information poles PA, PB, PC are unknown. Any one of them can be used as an informational pole that is movable and whose position is unknown. By repeating such position specifying processing, for example, position measurement in a tunnel having a long depth and difficult to self-position using GNSS or the like can be performed with high accuracy and easily.

  Further, when the informationized pole P1 moves, for example, when the information terminal device 40 sends an omnidirectional image capture command, the informationized poles are connected to each other by ad hoc communication. At the same time, an omnidirectional image is captured and sent to the positioning server 30, and the self-position of the informationized pole P1 whose position is unknown is determined by the process corresponding to FIG. 5 or the process corresponding to FIG. Also good.

  In addition, you may give the function of the positioning server 30 to each information-ized pole PA, PB, PC, P1. Furthermore, the number of information poles PA, PB, PC, P1 is not limited to four, and five or more information poles may be used.

  Further, the position measurement with higher accuracy may be performed by combining the embodiment corresponding to FIG. 5 and the modification corresponding to FIG.

  As mentioned above, although the embodiment to which the invention made by the present inventors was applied has been described, the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention according to this embodiment. That is, other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the present embodiment are all included in the scope of the present invention.

1 mutual position acquisition system 2 GNSS
10 reference station 11 server 20 mobile station group 21 omnidirectional camera 22 GNSS receiver 23 transmitter / receiver 24 marker 25 geomagnetic sensor 26 battery 30 positioning server 31 positioning calculator 40 information terminal devices A1, B1, C1, 1A, 1B, 1C 3 Dimensional orientation AT GNSS antenna C Controllers CP1, CPA, CPB, CPC Center position DP1, DPA, DPB, DPC Global celestial image E1 GNSS non-receiving area MP1, MPA, MPB, MPC Marker image N Network NA Geomagnetic direction PA, PB , PC, P1 Information pole R1 Receiver S GNSS satellite

Claims (4)

A self-position acquisition unit that acquires the self-position using GNSS;
A marker attached to the external surface of its own information pole as its own identification information;
A geomagnetic sensor,
A spherical camera,
A transceiver unit;
It has a plurality of information poles with
When the self-position of one informationized pole cannot be obtained using the GNSS, each of three or more other informationized poles with known self-positions has a spherical image including a marker image of the one informationized pole. Based on various magnetic orientations of the geomagnetic sensors of the three or more other information poles and the three omnidirectional images, the self-positions of the other information poles to the one information pole A mutual position acquisition system characterized by calculating a three-dimensional azimuth and calculating the self-position of the one information pole from the three-dimensional azimuth. A self-position acquisition unit that acquires the self-position using GNSS;
A marker attached to the external surface of its own information pole as its own identification information;
A geomagnetic sensor,
A spherical camera,
A transceiver unit;
It has a plurality of information poles with
When the self-position of one informationized pole cannot be obtained using the GNSS, the one informationized pole picks up a spherical image including marker images of three or more other informationized poles whose self-positions are known. Then, based on the geomagnetic direction of the geomagnetic sensor of the one information pole and one omnidirectional image, the three-dimensional direction from the one information pole to the self position of each other information pole is calculated. And calculating the self-position of the one information pole from the three-dimensional orientation. A self-position acquisition unit that acquires the self-position using GNSS;
A marker attached to the external surface of its own information pole as its own identification information;
A geomagnetic sensor,
A spherical camera,
A transceiver unit;
It has a plurality of information poles with
When the self-position of one informationized pole cannot be obtained using the GNSS, each of three or more other informationized poles with known self-positions has a spherical image including a marker image of the one informationized pole. In addition to imaging, the one informational pole captures a spherical image including a marker image of three or more other informational poles whose self-position is known, and the geomagnetic sensor of the three or more other informational poles First three-dimensional orientation from the self-position of the three or more information poles to the one information pole based on the magnetic orientation of each of the three and the omnidirectional image of the three or more other information poles Based on the geomagnetic orientation of the geomagnetic sensor of the one information pole and the omnidirectional image of the one information pole, the three or more other information poles from the one information pole are calculated. Second to self position Calculating the dimension orientation, mutual position acquisition system and calculates its own position of said one of the information pole from the first and second three-dimensional orientation.   The positions of the three or more other information poles are fixed, the one information pole is movable, and the position of the one information pole is calculated for each movement of the one information pole. The mutual position acquisition system according to any one of claims 1 to 3.

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