JP2019219290A - Altitude measuring device and altitude measuring program - Google Patents

Abstract

To allow an altitude to be measured easily and accurately even in a long tunnel.SOLUTION: An altitude difference calculation unit 111 calculates the difference in the altitude between a mobile body and a fixing station 220 on the basis of a mobile body air pressure measured for the mobile body and a fixing station air pressure measured by the fixing station 220. The altitude calculation unit 112 calculates the altitude of the mobile body on the basis of the calculated altitude difference and the altitude of the fixing station 220.SELECTED DRAWING: Figure 1

Description

  The present invention relates to altitude measurement.

  Conventionally, level measurement or measurement using a barometer has been performed to measure the altitude at a certain point.

There is also known a mobile mapping system (MMS) that can obtain three-dimensional coordinate values of a road traveled by a measurement vehicle and its surroundings. The height of each point is obtained by MMS.
Patent Literature 1 discloses road measurement using MMS.

JP-A-2006-206131

When measuring altitude in a long tunnel such as a subway tunnel, the conventional method has the following problems.
In leveling, since leveling is performed horizontally at each surveying point, enormous labor, time, and cost are required. In addition, it is necessary to close the tunnel for a long time during leveling. Although the accuracy of the altitude obtained by leveling is high, the continuity of the obtained altitude is low because the interval between the survey points is long.
In measurement using a barometer, an approximate altitude can be obtained. However, the accuracy of the altitude is greatly affected by the outside air pressure, and the change in the outside air pressure lowers the accuracy of the altitude.
In the measurement by MMS, satellite positioning and inertial navigation are performed. Therefore, in a situation where the positioning satellite is visible, it is possible to measure three-dimensional coordinate values with high accuracy. In a situation where the positioning satellite is invisible, single positioning by inertial navigation is performed. If the positioning satellite is invisible for a long time, or if the positioning satellite is invisible for a long distance, the integration operation in inertial navigation adds errors, and the accuracy of three-dimensional coordinate values including altitude decreases. Would.

  An object of the present invention is to make it possible to easily measure altitude with high accuracy even in a long tunnel.

The altitude measurement device of the present invention,
An altitude difference calculation unit that calculates an altitude difference between the mobile unit and the fixed station based on the mobile unit air pressure measured at the mobile unit and the fixed station air pressure measured at the fixed station,
An altitude calculation unit configured to calculate the altitude of the mobile unit based on the altitude difference calculated and the altitude of the fixed station.

According to the present invention, it is possible to easily measure altitude with high accuracy even in a long tunnel.
For example, since the measurement can be performed by the moving body, the altitude in the tunnel can be measured without closing the tunnel. In addition, since the fixed station pressure is considered in addition to the mobile body pressure, the altitude can be measured without being affected by the difference in the outside pressure depending on the location. Further, since the altitude is measured without using the satellite positioning and the inertial navigation, the altitude can be measured with high accuracy even in a tunnel where the positioning satellite is invisible.

FIG. 2 is a configuration diagram of the altitude measurement device 100 according to the first embodiment. FIG. 1 is a configuration diagram of an altitude measurement system 200 according to the first embodiment. FIG. 2 is a configuration diagram of a cart type MMS 300 according to the first embodiment. 5 is a flowchart of an altitude measurement method according to the first embodiment. 9 is a flowchart of an altitude difference calculation process (S110) according to the first embodiment. 9 is a flowchart of an altitude calculation process (S120) according to the first embodiment. FIG. 9 is a configuration diagram of an altitude measurement device 100 according to the second embodiment. FIG. 7 is a configuration diagram of an altitude measurement system 200 according to the second embodiment. FIG. 9 is a diagram illustrating a relationship between a mobile unit and a plurality of fixed stations according to the second embodiment. 9 is a flowchart of an altitude measurement method according to the second embodiment. 9 is a flowchart of a reference atmospheric pressure calculation process (S210) according to the second embodiment. 15 is a flowchart of an altitude difference calculation process (S220) according to the second embodiment. 15 is a flowchart of an altitude calculation process (S230) according to the second embodiment. FIG. 9 is a configuration diagram of an altitude measurement device 100 according to the third embodiment. 15 is a flowchart of a positioning result correction method according to the third embodiment. 15 is a flowchart of a positioning result correction process (S320) according to the third embodiment. FIG. 14 is a diagram showing a specific example of a correction screen 400 according to the third embodiment. FIG. 14 is a diagram showing a specific example of a vertical route column 440 according to the third embodiment. FIG. 14 is a schematic diagram of correction for an altitude time series according to the third embodiment. FIG. 11 is a relationship diagram of an altitude time series according to the third embodiment. FIG. 14 is a configuration diagram of an altitude measurement system 201 according to the fourth embodiment. FIG. 14 is a configuration diagram of an altitude measurement system 202 according to the fourth embodiment.

  In the embodiments and the drawings, the same or corresponding elements have the same reference characters allotted. The description of the elements denoted by the same reference numerals as those described will be omitted or simplified as appropriate. The arrows in the figure mainly indicate the flow of data or the flow of processing.

Embodiment 1 FIG.
A mode in which the altitude of a moving object is measured using one fixed station will be described with reference to FIGS.

*** Configuration description ***
The configuration of the altitude measurement device 100 will be described based on FIG.
The altitude measurement device 100 is a computer including hardware such as a processor 101, a memory 102, an auxiliary storage device 103, and an input / output interface 104. These hardwares are connected to each other via signal lines.

The processor 101 is an IC (Integrated Circuit) that performs arithmetic processing, and controls other hardware. For example, the processor 101 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).
The memory 102 is a volatile storage device. The memory 102 is also called a main storage device or a main memory. For example, the memory 102 is a RAM (Random Access Memory). The data stored in the memory 102 is stored in the auxiliary storage device 103 as needed.
The auxiliary storage device 103 is a nonvolatile storage device. For example, the auxiliary storage device 103 is a ROM (Read Only Memory), a HDD (Hard Disk Drive), or a flash memory. The data stored in the auxiliary storage device 103 is loaded into the memory 102 as needed.
The input / output interface 104 is a port to which an input device and an output device are connected. For example, the input / output interface 104 is a USB terminal, the input devices are a keyboard, a mouse, and a receiver, and the output devices are a display and a transmitter. USB is an abbreviation for Universal Serial Bus.

  The altitude measurement device 100 includes elements such as an altitude difference calculator 111 and an altitude calculator 112. These elements are realized by software.

The auxiliary storage device 103 stores an altitude measurement program for causing a computer to function as the altitude difference calculator 111 and the altitude calculator 112. The altitude measurement program is loaded into the memory 102 and executed by the processor 101.
Further, the auxiliary storage device 103 stores an OS (Operating System). At least a part of the OS is loaded into the memory 102 and executed by the processor 101.
That is, the processor 101 executes the altitude measurement program while executing the OS.
Data obtained by executing the altitude measurement program is stored in a storage device such as the memory 102, the auxiliary storage device 103, a register in the processor 101, or a cache memory in the processor 101.

  The auxiliary storage device 103 functions as the storage unit 190. However, another storage device may function as the storage unit 190 instead of the auxiliary storage device 103 or together with the auxiliary storage device 103.

  The altitude measurement device 100 may include a plurality of processors instead of the processor 101. The plurality of processors share the role of the processor 101.

  The altitude measurement program can be recorded (stored) in a computer-readable manner on a non-volatile recording medium such as an optical disk or a flash memory.

  The altitude measuring device 100 measures the altitude of a mobile using a fixed station 220 having a barometer 221 and a thermometer 222.

The configuration of the altitude measurement system 200 will be described based on FIG.
The altitude measurement system 200 includes an altitude measurement device 100, a mobile unit 210, and a fixed station 220.
The altitude of the point where the moving body 210 is located is unknown.
The altitude of the point where the fixed station 220 is located is known.
Altitude is also referred to as altitude or absolute height.

The moving object 210 is a target whose altitude is measured. For example, the moving body 210 is a carriage that moves in a tunnel.
The moving body 210 includes a barometer 211 and a thermometer 212.
The barometer 211 measures the atmospheric pressure at the point where the moving body 210 is located, and outputs a set of the measured atmospheric pressure and the time at which the atmospheric pressure was measured.
The thermometer 212 measures the temperature at the point where the moving body 210 is located, and outputs a set of the measured temperature and the time at which the temperature was measured.

The fixed station 220 is a private fixed station or a public fixed station. When there are a plurality of fixed stations, the fixed station 220 is the fixed station closest to the mobile unit 210.
The private fixed station 220 is installed by a user in an area where the mobile unit 210 moves.
The public fixed station 220 is, for example, one of fixed stations installed nationwide by the Meteorological Agency.
The fixed station 220 includes a barometer 221 and a thermometer 222.
The barometer 221 measures the barometric pressure at the point where the fixed station 220 is located, and outputs a set of the measured barometric pressure and the time at which the barometric pressure was measured.
The thermometer 222 measures the temperature at the point where the fixed station 220 is located, and outputs a set of the measured temperature and the time at which the temperature was measured.

  The altitude measurement device 100 calculates the altitude of the mobile unit 210 based on the air pressure measured by the mobile unit 210, the air pressure measured by the fixed station 220, and the temperature measured by the mobile unit 210 or the fixed station 220. I do.

  The altitude measurement device 100 may be provided in the mobile 210, may be provided in the fixed station 220, or may be provided independently of the mobile 210 and the fixed station 220.

The configuration of the cart type MMS 300 will be described with reference to FIG.
The cart type MMS 300 is a specific example of the moving object 210. MMS is an abbreviation for Mobile Mapping System.
For example, the cart type MMS 300 moves in the tunnel by hand. When the bogie type MMS 300 moves in the tunnel, a fixed station 220 including a barometer 221 and a thermometer 222 is arranged in the tunnel in advance.

The cart type MMS 300 includes a cart 310.
The recording unit 330 is mounted on the carriage 310.
Measuring equipment such as a laser control box 331, a laser Doppler distance meter 332, a barometer 333, and a thermometer 334 are fixed to the recording unit 330. A sensor box 335 is fixed to the recording unit 330.
A control PC 320 is placed on the recording unit 330. For example, the control PC 320 is a notebook PC. PC is an abbreviation for personal computer. The control PC 320 may have the function of the altitude measurement device 100.

A laser Doppler distance meter 311, a sensor head 312, a large-capacity battery 313, and an anti-vibration table 314 are attached to the cart 310.
A high-precision laser unit 340 integrated with the IMU 341 is mounted on the vibration isolator 314. IMU is an abbreviation for inertial measurement device.

*** Explanation of operation ***
The operation of the altitude measurement device 100 corresponds to an altitude measurement method. The procedure of the altitude measurement method corresponds to the procedure of the altitude measurement program.

An altitude measurement method will be described based on FIG.
In step S110, the altitude difference calculator 111 calculates the altitude difference between the mobile unit 210 and the fixed station 220 based on the mobile unit air pressure and the fixed station air pressure.
Details of the altitude difference calculation process (S110) will be described later.

In step S120, the altitude calculation unit 112 calculates the altitude of the mobile unit 210 based on the calculated altitude difference and the altitude of the fixed station 220.
The details of the altitude calculation process (S120) will be described later.

The altitude difference calculation processing (S110) will be described based on FIG.
The altitude difference between the mobile unit 210 and the fixed station 220 at the target time is calculated by the altitude difference calculation process (S110).

In step S111, the altitude difference calculation unit 111 acquires the moving body pressure at the target time and the moving body temperature at the target time.
The moving body pressure is a pressure measured in the moving body 210. That is, the moving body pressure is the pressure at the point where the moving body 210 is located.
The moving body temperature is a temperature measured in the moving body 210. That is, the moving object temperature is the temperature of the point where the moving object 210 is located.

  For example, the altitude difference calculation unit 111 acquires the moving body pressure at the current time (target time) and the moving body temperature at the current time from the moving body 210 by communicating with the moving body 210.

For example, the moving body pressure time series and the moving body temperature time series are stored in the storage unit 190. The moving body pressure time series is a set of sets of the moving body pressure and the measurement time. The moving object temperature time series is a set of sets of the moving object temperature and the measurement time. The altitude difference calculating unit 111 acquires the moving body pressure at the target time from the moving body pressure time series, and acquires the moving body temperature at the target time from the moving body temperature time series.
If the moving body pressure at the target time is not included in the moving body pressure time series, the altitude difference calculation unit 111 estimates the moving body pressure at the target time based on the moving body pressure time series. For example, the altitude difference calculation unit 111 interpolates the moving body pressure at the target time based on the moving body pressure at a time before the target time and the moving body pressure at a time after the target time.
When the moving object temperature at the target time is not included in the moving object temperature time series, the altitude difference calculation unit 111 estimates the moving object temperature at the target time based on the moving object temperature time series. For example, the altitude difference calculation unit 111 interpolates the moving object temperature at the target time based on the moving object temperature at a time before the target time and the moving object temperature at a time after the target time.

In step S112, the altitude difference calculation unit 111 acquires the fixed station pressure at the target time and the fixed station temperature at the target time. That is, the altitude difference calculation unit 111 acquires the fixed station pressure at the same time as the time when the moving body pressure was measured, and the fixed station temperature at the same time as the time when the moving body temperature was measured.
The fixed station pressure is the pressure measured at the fixed station 220. That is, the fixed station pressure is the pressure at the point where the fixed station 220 is located.
The fixed station temperature is a temperature measured by the fixed station 220. That is, the fixed station temperature is the temperature at the point where the fixed station 220 is located.

  For example, the altitude difference calculation unit 111 acquires the fixed station pressure at the current time (target time) and the fixed station temperature at the current time from the fixed station 220 by communicating with the fixed station 220.

For example, the fixed station pressure time series and the fixed station temperature time series are stored in the storage unit 190. The fixed station pressure time series is a set of sets of fixed station pressure and measurement time. The fixed station temperature time series is a set of sets of the fixed station temperature and the measurement time. The altitude difference calculation unit 111 acquires the fixed station pressure at the target time from the fixed station pressure time series, and acquires the fixed station temperature at the target time from the fixed station temperature time series.
If the fixed station pressure at the target time is not included in the fixed station pressure time series, the altitude difference calculation unit 111 estimates the fixed station pressure at the target time based on the fixed station pressure time series. For example, the altitude difference calculation unit 111 interpolates the fixed station pressure at the target time based on the fixed station pressure at a time before the target time and the fixed station pressure at a time after the target time.
If the fixed station temperature at the target time is not included in the fixed station temperature time series, the altitude difference calculation unit 111 estimates the fixed station temperature at the target time based on the fixed station temperature time series. For example, the altitude difference calculation unit 111 interpolates the fixed station pressure at the target time based on the fixed station pressure at a time before the target time and the fixed station pressure at a time after the target time.

In step S113, the altitude difference calculator 111 calculates the altitude difference between the mobile 210 and the fixed station 220 based on the mobile body pressure acquired in step S111 and the fixed station pressure acquired in step S112. That is, the altitude difference calculation unit 111 calculates the altitude difference between the mobile unit 210 and the fixed station 220 at the target time based on the mobile body pressure at the target time and the fixed station pressure at the target time.
In calculating the altitude difference, the moving object temperature obtained in step S101 or the fixed station temperature obtained in the memory 102 is used.

Specifically, the altitude difference calculator 111 calculates the altitude difference between the mobile unit 210 and the fixed station 220 by calculating the following equation (1).
If the mobile body pressure and the fixed station pressure have an accuracy of 0.1 hectopascal (hPa), an altitude difference can be obtained with a resolution of 1 meter (m). One atmosphere is 1013.25 hPa.
“H” is an altitude difference between the mobile unit 210 and the fixed station 220.
“P” is the moving body pressure [hPa].
“P ₀ ” is a fixed station pressure [hPa].
“T” is the mobile station temperature or the fixed station temperature.

The altitude calculation processing (S120) will be described based on FIG.
The altitude calculation process (S120) calculates the altitude of the moving body 210 at the target time.

In step S121, the altitude calculation unit 112 acquires a fixed station altitude.
The fixed station altitude is the altitude of the fixed station 220.

  For example, the altitude calculation unit 112 acquires the fixed station altitude from the fixed station 220 by communicating with the fixed station 220.

  For example, the fixed station altitude is stored in the storage unit 190. The altitude calculation unit 112 acquires the fixed station altitude from the storage unit 190.

  In step S122, the altitude calculation unit 112 adds the altitude difference between the mobile unit 210 and the fixed station 220 to the fixed station altitude. The calculated value is the altitude of the moving body 210 at the target time.

*** Effect of Embodiment 1 ***
Even in a place such as in a tunnel where positioning cannot be performed with high accuracy because the positioning satellite is invisible, the altitude of the moving object can be measured with high accuracy.
It is possible to measure the altitude of a moving object with several steps higher accuracy than a simple altitude prediction that converts the barometric pressure measured by a barometer mounted on the moving object into altitude.
The measurement by the altitude measuring device 100 is particularly effective for a long tunnel for a railway.

By calculating the altitude of the moving object based on the atmospheric pressure of the moving object and the air pressure of the fixed station at the same time, it is possible to correct an error in altitude caused by a change in air pressure with respect to a change in air pressure over time.
The time unit for the same time is arbitrary. That is, the two times may be the same in seconds, minutes, hours, or other units.

Embodiment 2 FIG.
A mode in which the altitude of a mobile unit is measured using two or more fixed stations will be described mainly with reference to FIGS.

*** Configuration description ***
The configuration of the altitude measurement device 100 will be described based on FIG.
The altitude measuring device 100 includes elements such as a reference atmospheric pressure calculating unit 121, an altitude difference calculating unit 122, and an altitude calculating unit 123. These elements are realized by software.
The altitude measurement program causes a computer to function as the reference atmospheric pressure calculation unit 121, the altitude difference calculation unit 122, and the altitude calculation unit 123.

The configuration of the altitude measurement system 200 will be described based on FIG. Illustration of the altitude measurement device 100 is omitted. The arrow curve indicates the moving path of the moving body 210.
The altitude measurement system 200 includes the altitude measurement device 100, the mobile unit 210, and a plurality of fixed stations. The plurality of fixed stations are provided at different points.
FIG. 8 shows three fixed stations (220A, 220B and 220C). However, the altitude measurement system 200 may include two fixed stations, or may include four or more fixed stations. When the fixed stations are not specified, each is referred to as a fixed station 220.

The exact altitude of the mobile 210 is unknown. However, the approximate horizontal position (for example, latitude and longitude) of the mobile object 210 and the approximate altitude of the mobile object 210 can be measured by a positioning device provided in the mobile object 210. The coordinate value indicating the horizontal position is called a two-dimensional coordinate value. A set of the coordinate value indicating the horizontal position and the altitude is called a three-dimensional coordinate value.
The altitude of the fixed station 220 is known as in the first embodiment. Further, the horizontal position of fixed station 220 is known. That is, the three-dimensional coordinate value of the point where the fixed station 220 is located is known.

Moving body 210 includes a barometer and a thermometer as described in the first embodiment.
Each fixed station 220 includes a barometer and a thermometer as described in the first embodiment.

  The altitude measurement device 100 calculates the altitude of the mobile unit 210 based on the air pressure measured by the mobile unit 210 and the plurality of atmospheric pressures measured by the plurality of fixed stations 220.

  The altitude measurement device 100 may be provided in the mobile 210, may be provided in any fixed station 220, or may be provided independently of the mobile 210 and the plurality of fixed stations 220. .

The relationship between the mobile unit 210 and the plurality of fixed stations 220 will be described with reference to FIG.
The picture of the car represents the moving object 210. A black square represents the fixed station 220.
The fixed stations 220 are installed in various places. The altitude of the mobile 210 is measured by using a plurality of fixed stations 220 located around the mobile 210.

*** Explanation of operation ***
An altitude measurement method will be described based on FIG.
In step S210, the reference atmospheric pressure calculation unit 121 is measured by the two or more horizontal positions of the two or more fixed stations 220, the two or more altitudes of the two or more fixed stations 220, and the two or more fixed stations 220. The reference pressure is calculated based on the two or more fixed station pressures.
The reference pressure is the pressure at the reference point.
Details of the reference atmospheric pressure calculation process (S210) will be described later.

In step S220, the altitude difference calculation unit 122 calculates an altitude difference between the moving body 210 and the reference point based on the moving body pressure measured by the moving body 210 and the reference pressure.
The details of the altitude difference calculation process (S220) will be described later.

In step S230, the altitude calculation unit 123 calculates the altitude of the mobile unit 210 based on the calculated altitude difference and the altitude of the reference point.
The details of the altitude calculation process (S230) will be described later.

The reference atmospheric pressure calculation process (S210) will be described based on FIG.
The reference pressure at the target time is calculated by the reference pressure calculation process (S210).

  In step S211, the reference atmospheric pressure calculation unit 121 acquires the horizontal position of the moving object at the target time.

  For example, the reference atmospheric pressure calculation unit 121 acquires the horizontal position of the moving body 210 at the current time (target time) from the moving body 210 by communicating with the moving body 210.

For example, the time series of the horizontal position of the moving object 210 is stored in the storage unit 190. The horizontal position time series is a set of pairs of the horizontal position and the measurement time. The reference atmospheric pressure calculation unit 121 acquires the horizontal position of the moving body 210 at the target time from the horizontal position time series of the moving body 210.
If the horizontal position of the mobile unit 210 at the target time is not included in the horizontal position time series of the mobile unit 210, the reference atmospheric pressure calculating unit 121 determines the position of the mobile unit 210 at the target time based on the horizontal position time series of the mobile unit 210. Estimate the horizontal position. For example, the reference atmospheric pressure calculation unit 121 calculates the horizontal position of the moving body 210 at the target time based on the horizontal position of the moving body 210 at a time before the target time and the horizontal position of the moving body 210 at a time after the target time. Is interpolated.

  In step S212, the reference atmospheric pressure calculation unit 121 acquires the horizontal position, the altitude, and the atmospheric pressure of the stationary station at the target time for each of the stationary stations provided in the altitude measurement system 200.

  For example, the reference atmospheric pressure calculation unit 121 obtains the horizontal position of the fixed station and the altitude of the fixed station from the fixed station by communicating with the fixed station.

  For example, the horizontal position of the fixed station and the altitude of the fixed station are stored in the storage unit 190. The reference atmospheric pressure calculation unit 121 acquires the horizontal position of the fixed station and the altitude of the fixed station from the storage unit 190.

  For example, the reference atmospheric pressure calculation unit 121 acquires the fixed station pressure at the current time (target time) from the fixed station by communicating with the fixed station.

For example, a fixed station atmospheric pressure time series is stored in the storage unit 190 for each fixed station. The fixed station pressure time series is a set of sets of fixed station pressure and measurement time. The reference atmospheric pressure calculation unit 121 acquires the fixed station pressure at the target time from the fixed station pressure time series.
If the fixed station pressure at the target time is not included in the fixed station pressure time series, the reference pressure calculation unit 121 estimates the fixed station pressure at the target time based on the fixed station pressure time series. For example, the reference pressure calculating unit 121 interpolates the fixed station pressure at the target time based on the fixed station pressure at a time before the target time and the fixed station pressure at a time after the target time.

In step S213, the reference atmospheric pressure calculation unit 121 selects two or more fixed stations 220 based on the horizontal position of the mobile unit 210 at the target time and the plurality of horizontal positions of the fixed stations.
Specifically, the reference atmospheric pressure calculation unit 121 selects two or more fixed stations 220 in which the mobile unit 210 is located between the two or more fixed stations 220 at the target time.

In step S214, the reference atmospheric pressure calculation unit 121 determines a reference point.
That is, the reference atmospheric pressure calculation unit 121 determines the horizontal position of the reference point and the altitude of the reference point.

Specifically, the reference atmospheric pressure calculation unit 121 determines the horizontal position of the moving object at the target time as the horizontal position of the reference point.
However, the reference atmospheric pressure calculation unit 121 may determine a horizontal position different from the horizontal position of the moving object at the target time as the horizontal position of the reference point. For example, the reference atmospheric pressure calculation unit 121 may determine the horizontal position of the center of the two or more fixed stations 220 as the horizontal position of the reference point. The horizontal position of the reference point may be determined in advance.

Specifically, the reference atmospheric pressure calculation unit 121 selects one of the two or more fixed stations 220 and determines the altitude of the selected fixed station 220 as the altitude of the reference point.
However, the reference atmospheric pressure calculation unit 121 may determine an altitude different from the altitude of any of the fixed stations 220 as the altitude of the reference point. For example, the reference atmospheric pressure calculation unit 121 may determine the height of the center of the two or more fixed stations 220 as the height of the reference point. Further, the altitude of the reference point may be determined in advance.

In step S215, the reference pressure calculating unit 121 calculates the pressure at the reference point at the target time, that is, the reference pressure at the target time.
Specifically, the reference atmospheric pressure calculation unit 121 calculates two or more horizontal positions of the two or more fixed stations 220, two or more altitudes of the two or more fixed stations 220, and two or more altitudes at the target time. Based on the two or more fixed station pressures of the fixed station 220, the pressure at the reference point is estimated.

For example, the reference pressure calculation unit 121 calculates the reference pressure as follows.
First, the reference atmospheric pressure calculation unit 121 calculates the distance from the fixed station 220 to the reference point for each fixed station 220, based on the horizontal position of the fixed station 220 and the altitude of the fixed station 220.
Next, the reference atmospheric pressure calculation unit 121 weights the fixed station pressure of each fixed station 220 based on the distance from the fixed station 220 to the reference point for each fixed station 220. The fixed station pressure after weighting is called a weighted pressure.
Then, the reference atmospheric pressure calculating unit 121 calculates an average of two or more weighted atmospheric pressures for the two or more fixed stations 220. The calculated value is the reference pressure.

The altitude difference calculation processing (S220) will be described based on FIG.
By the altitude difference calculation process (S220), the altitude difference between the mobile unit 210 and the fixed station 220 at the target time is calculated.

In step S221, the altitude difference calculation unit 122 acquires the moving body pressure at the target time and the moving body temperature at the target time.
Step S221 is the same as step S111 in the first embodiment (see FIG. 5).

  In step S222, the altitude difference calculation unit 122 calculates the altitude difference between the mobile unit 210 and the reference point at the target time based on the mobile atmospheric pressure at the target time and the reference air pressure at the target time.

Specifically, altitude difference calculating section 122 calculates the altitude difference between mobile object 210 and the reference point by calculating equation (1) shown in the first embodiment.
In the equation (1), “h”, “P”, “P ₀ ”, and “T” are as follows.
“H” is an altitude difference between the mobile unit 210 and the reference point.
“P” is the moving body pressure [hPa].
“P ₀ ” is a reference pressure [hPa].
“T” is the mobile station temperature.

  However, “T” may be the temperature at the reference point, that is, the reference temperature. The altitude difference calculator 122 calculates the reference temperature in the same manner as the calculation of the reference pressure (S215).

The altitude calculation processing (S230) will be described based on FIG.
The altitude calculation process (S230) calculates the altitude of the mobile unit 210 at the target time.

In step S231, the altitude calculation unit 123 acquires the reference altitude.
The reference altitude is determined in the determination of the reference point (S214).

  In step S232, the altitude calculation unit 123 adds the altitude difference between the mobile unit 210 and the reference point at the target time to the reference altitude. The calculated value is the altitude of the moving body 210 at the target time.

*** Effect of Embodiment 2 ***
According to the second embodiment, it is possible to correct an error in altitude due to a change in air pressure with respect to both a change in pressure with time and a change in pressure with a change in position (place).

When using a private fixed station, it is possible to measure the altitude of the mobile with high accuracy by using multiple fixed stations, even if the fixed station cannot be located near the mobile 210. It becomes.
When a public fixed station is used, even if the fixed station is not located near the mobile unit 210, the altitude of the mobile unit can be measured with high accuracy by using a plurality of fixed stations. .

Embodiment 3 FIG.
FIG. 14 mainly shows a point different from Embodiments 1 and 2 in the form in which the altitude time series obtained by the positioning on the moving object is corrected based on the altitude of the moving object measured by the altitude measuring device 100. A description will be given based on FIG.

*** Configuration description ***
The configuration of the altitude measurement device 100 will be described based on FIG.
The altitude measurement device 100 includes elements such as an altitude measurement unit 131 and a positioning result correction unit 132. Those elements are realized by software.
The altitude measurement program causes a computer to function as the altitude measurement unit 131 and the positioning result correction unit 132.

  The altitude measuring unit 131 is a set of the altitude difference calculating unit 111 and the altitude calculating unit 112 according to the first embodiment, or the reference pressure calculating unit 121, the altitude difference calculating unit 122, and the altitude calculating unit 123 according to the second embodiment. Equivalent to a pair.

  The positioning result correction unit 132 will be described later.

*** Explanation of operation ***
The positioning result correction method will be described with reference to FIG.
The positioning result correction method is a method obtained by expanding the altitude measurement method according to the first or second embodiment.

In step S310, the altitude measurement unit 131 calculates one or more altitudes of the moving object 210 at one or more times.
In step S320, the positioning result correction unit 132 corrects the altitude time series obtained by the positioning in the mobile unit 210 based on the calculated one or more altitudes.

The altitude time series is a set of time and altitude, and is obtained by positioning in the mobile unit 210.
Specifically, the mobile unit 210 is a mobile mapping system (MMS). For example, the mobile unit 210 is a cart type MMS 300. The altitude time series is obtained by the MMS that is the mobile unit 210.

  In step S310, the method of calculating the altitude of the moving object 210 at each time is the same as the method of calculating the altitude of the moving object 210 at the target time in the first or second embodiment.

The procedure of the positioning result correction processing (S320) will be described based on FIG.
Prior to the positioning result correction processing (S320), the altitude measurement unit 131 calculates a plurality of altitudes of the moving body 210 at a plurality of times. The plurality of calculated altitudes are stored in the storage unit 190.

  In step S321, the positioning result correction unit 132 acquires a plurality of altitudes of the mobile unit 210 at a plurality of times from the storage unit 190.

In step S322, the positioning result correction unit 132 displays the correction screen 400 on the display.
The correction screen 400 is a screen having a user interface.
The user interface is a user interface for selecting one or more altitudes from a plurality of altitudes of the mobile 210 (measured by the altitude measuring device 100).

In step S323, the user selects one or more altitudes of the moving object 210 using the user interface of the correction screen 400.
The positioning result correction unit 132 corrects the altitude time series of the mobile unit 210 based on one or more altitudes selected via the user interface of the correction screen 400.

Specifically, the positioning result correction unit 132 corrects the altitude time series of the mobile unit 210 as follows. The altitude selected by the user interface is called measurement altitude, and the altitude included in the altitude time series is called positioning altitude.
The positioning result correction unit 132 selects, for each measurement altitude, the positioning altitude at the time when the measurement altitude was measured from the altitude time series, and changes the value of the selected positioning altitude to the same value as the measurement altitude. Further, the positioning result correction unit 132 adjusts the unchanged positioning altitude based on the changed positioning altitude. That is, the positioning result correction unit 132 adjusts each value of the unchanged positioning altitude so that the changed positioning altitude and the unchanged positioning altitude are arranged on a smooth curve.

A specific example of the correction screen 400 will be described with reference to FIG.
The correction screen 400 has four tabs. Tab (1) is a "manual" tab, tab (2) is a "correction position designation" tab, tab (3) is a "time position designation" tab, and tab (4) is "time altitude designation". Tab. In FIG. 17, the "time altitude designation" tab is selected.

The correction screen 400 has user interfaces such as a drop-down list 411, an add button 421, and a correction list 422.
The drop-down list 411 is used to specify time and altitude.
The user specifies the time and altitude using the drop-down list 411 and then presses the add button 421.
When the add button 421 is pressed, a set of the designated time and the designated altitude is added to the correction list 422.
A plurality of pairs of time and altitude can be added to the correction list 422.

The correction screen 400 has a calculation button 431.
After adding one or more pairs of time and altitude to the correction list 422, the user presses the calculation button 431.
After the calculation button 431 is pressed, the altitude time series of the mobile unit 210 is corrected based on the set of the time and the altitude included in the correction list 422.

The correction screen 400 has a vertical path column 440 and a horizontal path column 450.
The vertical route column 440 shows a graph indicating the altitude time series of the mobile unit 210. That is, the vertical path column 440 indicates the moving path of the moving body 210 on the vertical plane.
The horizontal route column 450 shows a graph representing the time series of the horizontal position of the moving object 210. That is, the horizontal route column 450 indicates the moving route of the moving body 210 on the horizontal plane.

A specific example of the vertical route column 440 will be described with reference to FIG.
The vertical path column 440 shows a graph 441 before correction and a graph 442 after correction.
The pre-correction graph 441 is a graph representing the altitude time series of the mobile unit 210.
The post-correction graph 442 is a graph representing the post-correction altitude time series.

The outline of the correction for the altitude time series will be described based on FIG.
The altitude time series 501 is an altitude time series before correction. The altitude time series 503 is an altitude time series after correction.
When the positioning altitude 502 of the altitude time series 501 is changed to the measurement altitude 504, other positioning altitudes of the altitude time series 501 are adjusted according to the change from the positioning altitude 502 to the measurement altitude 504.
As a result, the altitude time series 501 is corrected to the altitude time series 503.

*** Effect of Embodiment 3 ***
According to the third embodiment, it is possible to correct the altitude time series obtained by the MMS. That is, it is possible to improve the accuracy of the three-dimensional coordinate point group obtained by the MMS. For example, it is possible to improve the accuracy of the asset-compatible MMS.

The effect of the third embodiment will be described based on FIG.
The IMU altitude time series 511 is a time series of altitude measured by the IMU. In the IMU altitude time series 511, the amount of change at each time is relatively accurate. However, in the measurement in the IMU, the altitude is calculated by integration, so that the error increases with distance and time. Therefore, in the IMU altitude time series 511, the absolute value of each time includes an error.
The barometer altitude time series 512 is a time series of altitude obtained by converting the barometric pressure measured by the barometer. In the barometer height time series 512, the absolute value at each time is relatively accurate. However, the altitude obtained by converting the barometric pressure measured by the barometer is affected by the barometric pressure change. Therefore, in the barometer altime series 512, the absolute value is not stable, and the reliability of the absolute value is low.
The combined altitude time series 513 is an altitude time series obtained using both the IMU and the barometer. That is, the united altitude time series 513 is an altitude time series obtained by correcting the positioning altitude of the MMS by the altitude measured by the altitude measuring device 100. In the united altitude time series 513, both the amount of change at each time and the absolute value at each time have high reliability.
Such a combined altitude time series 513 is obtained according to the third embodiment.

Embodiment 4 FIG.
Embodiments in which a mobile station is used instead of a fixed station will be described mainly with reference to FIG. 21 and FIG. 22 in terms of differences from Embodiments 1 to 3.

*** Configuration description ***
The configuration of altitude measurement apparatus 100 is the same as the configuration in any of the first to third embodiments (see FIGS. 1, 7, and 14).

In FIG. 21, the configuration of the altitude measurement system 201 will be described.
Altitude measurement system 201 corresponds to altitude measurement system 200 in the first embodiment (see FIG. 2). Illustration of the altitude measurement device 100 is omitted.
The altitude measurement system 201 includes a mobile station 230 instead of the fixed station 220 in the first embodiment.

The configuration of the altitude measurement system 202 will be described based on FIG.
Altitude measurement system 202 corresponds to altitude measurement system 200 in the second embodiment (see FIG. 8). Illustration of the altitude measurement device 100 is omitted.
The altitude measurement system 202 includes a plurality of mobile stations instead of the plurality of fixed stations in the second embodiment. In FIG. 22, three mobile stations (230A, 230B and 230C) are shown. When the mobile stations are not specified, each is referred to as a mobile station 230.

In altitude measurement system 201 and altitude measurement system 202, mobile station 230 includes a barometer and a thermometer, similarly to fixed station 220 in the first and second embodiments.
The horizontal position of the mobile station 230 and the altitude of the mobile station 230 are known as in the case of the fixed station 220 in the first and second embodiments.
For example, mobile station 230 is a car. Specifically, the mobile station 230 is an automobile equipped with a mobile mapping system.

*** Explanation of operation ***
The operation of altitude measurement apparatus 100 is the same as the operation of altitude measurement apparatus 100 in the case where fixed station 220 is replaced with mobile station 230 in the first to third embodiments.

For example, the altitude measurement device 100 includes an altitude difference calculator 111 and an altitude calculator 112 as in the first embodiment.
The altitude difference calculation unit 111 calculates an altitude difference between the mobile unit 210 and the mobile station 230 based on the mobile unit air pressure measured at the mobile unit 210 and the mobile station atmospheric pressure measured at the mobile station 230.
The altitude calculation unit 112 calculates the altitude of the mobile unit 210 based on the calculated altitude difference and the altitude of the mobile station 230.

For example, as in the second embodiment, the altitude measuring device 100 includes a reference atmospheric pressure calculating unit 121, an altitude difference calculating unit 122, and an altitude calculating unit 123.
The reference atmospheric pressure calculation unit 121 calculates two or more horizontal positions of the two or more mobile stations 230, two or more altitudes of the two or more mobile stations 230, and two or more measured by the two or more mobile stations 230. Based on the mobile station pressure, the pressure at the reference point is calculated as the reference pressure.
The altitude difference calculation unit 122 calculates an altitude difference between the moving body 210 and the reference point based on the moving body pressure measured by the moving body 210 and the reference pressure.
The altitude calculation unit 123 calculates the altitude of the moving object 210 based on the calculated altitude difference and the altitude of the reference point.

For example, the altitude measurement device 100 includes an altitude measurement unit 131 and a positioning result correction unit 132, as in the third embodiment.
The altitude measuring unit 131 corresponds to a set of the altitude difference calculating unit 111 and the altitude calculating unit 112 or a set of the reference atmospheric pressure calculating unit 121, the altitude difference calculating unit 122, and the altitude calculating unit 123.
The altitude measurement unit 131 calculates one or more altitudes of the moving body 210 at one or more times.
The positioning result correction unit 132 corrects the altitude time series obtained by the positioning of the mobile unit 210 based on the calculated one or more altitudes.

*** Effect of Embodiment 4 ***
Even if a fixed station does not exist around the moving body, the altitude of the moving body can be measured with high accuracy. Since a fixed station is not required, the cost can be reduced by eliminating the fixed station.

  A vehicle (mobile) whose altitude is unknown can measure the altitude in real time by receiving information including the altitude from a vehicle (mobile station) whose altitude is known. The vehicles may directly communicate with each other, or the vehicles may communicate with each other via a server or the like.

*** Supplement to the embodiment ***
The embodiment is an exemplification of a preferred embodiment, and is not intended to limit the technical scope of the present invention. Embodiments may be implemented partially or in combination with other embodiments. The procedure described using the flowchart and the like may be appropriately changed.

  Reference Signs List 100 altitude measuring device, 101 processor, 102 memory, 103 auxiliary storage device, 104 input / output interface, 111 altitude difference calculating unit, 112 altitude calculating unit, 121 reference atmospheric pressure calculating unit, 122 altitude difference calculating unit, 123 altitude calculating unit, 131 Altitude measurement unit, 132 positioning result correction unit, 190 storage unit, 200 altitude measurement system, 201 altitude measurement system, 202 altitude measurement system, 210 moving object, 211 barometer, 212 thermometer, 220 fixed station, 221 barometer, 222 Thermometer, 230 mobile station, 300 bogie type MMS, 310 bogie, 311 laser Doppler distance meter, 312 sensor head, 313 large capacity battery, 314 anti-vibration base, 320 control PC, 330 recording unit, 331 laser control box, 332 Laser Doppler distance Total, 333 barometer, 334 thermometer, 335 sensor box, 340 high precision laser unit, 341 IMU, 400 correction screen, 411 drop down list, 421 add button, 422 correction list, 431 calculation button, 440 vertical path column, 441 Graph before correction, 442 Graph after correction, 450 horizontal route column, 501 altitude time series, 502 positioning altitude, 503 altitude time series, 504 measurement altitude, 511 IMU altitude time series, 512 barometer altitude time series, 513 merging altitude time series .

Claims (12)

An altitude difference calculation unit that calculates an altitude difference between the mobile unit and the fixed station based on the mobile unit air pressure measured at the mobile unit and the fixed station air pressure measured at the fixed station,
An altitude measurement device comprising: an altitude calculation unit configured to calculate an altitude of the mobile object based on the calculated altitude difference and the altitude of the fixed station. The altitude measurement device includes a positioning result correction unit,
The altitude calculation unit calculates one or more altitudes of the moving object at one or more times,
The altitude measurement device according to claim 1, wherein the positioning result correction unit corrects an altitude time series obtained by positioning on the moving body based on the calculated one or more altitudes. The altitude calculation unit calculates a plurality of altitudes of the moving body at a plurality of times,
The positioning result correction unit displays a correction screen having a user interface for selecting one or more altitudes from a plurality of calculated altitudes on a display, and displays a correction screen selected via the user interface of the correction screen. The altitude measuring device according to claim 2, wherein the altitude time series is corrected based on one or more altitudes. An altitude difference calculation unit that calculates an altitude difference between the mobile unit and the fixed station based on the mobile unit air pressure measured at the mobile unit and the fixed station air pressure measured at the fixed station,
An altitude measurement program for causing a computer to function as an altitude calculation unit that calculates the altitude of the mobile unit based on the altitude difference calculated and the altitude of the fixed station. Based on two or more horizontal positions of two or more fixed stations, two or more altitudes of the two or more fixed stations, and two or more fixed station pressures measured by the two or more fixed stations. A reference pressure calculation unit that calculates the pressure at the reference point as a reference pressure,
An altitude difference calculating unit that calculates an altitude difference between the moving body and the reference point based on the moving body pressure measured by the moving body and the reference pressure;
An altitude measurement device comprising: an altitude calculation unit configured to calculate an altitude of the moving object based on the calculated altitude difference and the altitude of the reference point. The altitude measurement device includes a positioning result correction unit,
The altitude calculation unit calculates one or more altitudes of the moving object at one or more times,
The altitude measurement device according to claim 5, wherein the positioning result correction unit corrects the altitude time series obtained by the positioning on the moving body based on the calculated one or more altitudes. The altitude calculation unit calculates a plurality of altitudes of the moving body at a plurality of times,
The positioning result correction unit displays a correction screen having a user interface for selecting one or more altitudes from a plurality of calculated altitudes on a display, and displays a correction screen selected via the user interface of the correction screen. The altitude measurement device according to claim 6, wherein the altitude time series is corrected based on one or more altitudes. Based on two or more horizontal positions of two or more fixed stations, two or more altitudes of the two or more fixed stations, and two or more fixed station pressures measured by the two or more fixed stations. A reference pressure calculation unit that calculates the pressure at the reference point as a reference pressure,
An altitude difference calculation unit that calculates an altitude difference between the moving body and the reference point, based on the moving body pressure measured by the moving body and the reference pressure.
An altitude measurement program for causing a computer to function as an altitude calculation unit that calculates the altitude of the moving object based on the calculated altitude difference and the altitude of the reference point. An altitude difference calculation unit that calculates an altitude difference between the mobile unit and the mobile station based on the mobile unit air pressure measured at the mobile unit and the mobile station air pressure measured at the mobile station,
An altitude measurement device comprising: an altitude calculation unit configured to calculate an altitude of the mobile unit based on the calculated altitude difference and the altitude of the mobile station. An altitude difference calculation unit that calculates an altitude difference between the mobile unit and the mobile station based on the mobile unit air pressure measured at the mobile unit and the mobile station air pressure measured at the mobile station,
An altitude measurement program for causing a computer to function as an altitude calculation unit that calculates the altitude of the mobile unit based on the altitude difference calculated and the altitude of the mobile station. Based on two or more horizontal positions of two or more mobile stations, two or more altitudes of the two or more mobile stations, and two or more mobile station pressures measured by the two or more mobile stations. A reference pressure calculation unit that calculates the pressure at the reference point as a reference pressure,
An altitude difference calculation unit that calculates an altitude difference between the moving body and the reference point, based on the moving body pressure measured by the moving body and the reference pressure.
An altitude measurement device comprising: an altitude calculation unit configured to calculate an altitude of the moving object based on the calculated altitude difference and the altitude of the reference point. Based on two or more horizontal positions of two or more mobile stations, two or more altitudes of the two or more mobile stations, and two or more mobile station pressures measured by the two or more mobile stations. A reference pressure calculation unit that calculates the pressure at the reference point as a reference pressure,
An altitude difference calculating unit that calculates an altitude difference between the moving body and the reference point based on the moving body pressure measured by the moving body and the reference pressure;
An altitude measurement program for causing a computer to function as an altitude calculation unit that calculates the altitude of the moving object based on the calculated altitude difference and the altitude of the reference point.

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