JP5561843B1 - Control device, surveying system, program, recording medium, and measuring method - Google Patents

Abstract

A survey system, a program, a recording medium, and a measurement method capable of suppressing deterioration of survey accuracy in a state where the weight mounted on a flying object is reduced without mounting an IMU.
A control device stores in advance information relating to a shutter delay time indicating a shutter delay from when a shooting signal for releasing a shutter of a camera is issued until the shutter is actually released. And a correction control means for obtaining a correction timing that is a timing retroactive to the shutter delay time based on information on the shutter delay time in the storage unit, and shooting for releasing the camera shutter at the correction timing obtained by the correction control means Output control means for outputting a signal.
[Selection] Figure 6

Description

  The present invention relates to a surveying system that photographs a survey target such as terrain or a structure with a camera mounted on a flying object (in particular, an unmanned aerial vehicle, UAV: Unmanned Aerial Vehicle).

  As a survey system for photographing survey objects such as terrain and structures with a camera mounted on a flying object, the survey object is photographed from a plurality of positions and angles, and a plurality of photographs taken by the camera and the plurality of photographs 2. Description of the Related Art Conventionally, a surveying system that performs photogrammetry for acquiring three-dimensional coordinates based on camera shooting information (for example, shooting position and shooting posture information) when a photograph is taken is known.

  Photogrammetry typically involves identifying common points in photos taken from two or more different locations, and crossing the line of sight or rays from the camera position when taking each photo. Photogrammetry by stereo analysis for obtaining three-dimensional coordinates based on the above can be mentioned.

  The adjustment calculation method in photogrammetry generally uses a least-squares method that minimizes the sum of squares of errors to connect the corresponding points between images in the space, thereby establishing a connection between the photos. A bundle adjustment method for calculating three-dimensional coordinates (so-called bundle calculation) has become mainstream.

  By the way, when performing adjustment calculation in photogrammetry, the value of shooting information is not a relative value, but an absolute value such as latitude, longitude, and altitude is required, and a scale value is also required. In the past, absolute shooting information values were calculated by shooting anti-air signs when surveying with anti-air signs pre-measured with absolute values such as latitude, longitude, and altitude. Was.

  However, when acquiring absolute shooting position values using anti-air signs, it is necessary to install multiple anti-air signs evenly (over a wide area) throughout the surveying range to be surveyed. Increased labor for installation and surveying.

  In this regard, the GNSS (Global Navigation Satellite System) receiver is mounted on the aircraft, and the GNSS information (specifically, date, time, latitude, etc.) from the GNSS receiver that has received radio waves from the satellite. There has been proposed a surveying system that acquires the absolute value of photographing information without installing an anti-air sign at a photographing location (information such as longitude and altitude) (see, for example, Patent Document 1).

International Publication No. 2008/152740 JP 2010-014443 A

  Thus, in a surveying system that acquires the value of absolute shooting information using a GNSS receiver, if the time when shooting is performed with a camera and the time when GNSS information is acquired with a GNSS receiver do not exactly match, absolute Therefore, it is impossible to accurately obtain the value of typical photographing information, resulting in a survey error, and the survey accuracy is deteriorated.

  That is, in a general camera (for example, a commercially available camera), a time lag (shutter delay time indicating a shutter delay, that is, a so-called shutter delay time from when a shooting signal for releasing a shutter is issued until the shutter is actually released) Relays time lag). If it does so, the position and attitude | position when GNSS information will be acquired with a GNSS receiver will differ from an actual imaging | photography position and imaging | photography attitude | position. For example, if the flying object was flying at a speed of 25 km / h, assuming that there was a shutter delay time of 1/10 second, the image was taken at a position about 70 cm ahead of the position where the GNSS information was acquired by the GNSS receiver. End up.

  In this regard, using an IMU (Inertial Measurement Unit), an aircraft (that is, a camera) based on IMU information (specifically, information such as 3-axis acceleration and 3-axis angular acceleration) from the IMU. Surveying systems have been proposed for measuring the movement distance and posture (see, for example, Patent Document 2). In such a survey system, the GNSS information (specifically, information such as date, time, latitude, longitude, and altitude) from the GNSS receiver is obtained from the movement distance and posture of the camera and the IMU at the time of shooting with the camera. Based on the information such as the three-axis acceleration and the three-axis angular acceleration, the position and orientation values of the camera when the GNSS information is acquired are corrected to the values at the time of shooting with the camera.

  However, in a surveying system that uses the IMU to correct the position and orientation values from which the GNSS information is acquired, the IMU is very expensive and has certain limitations in taking it out, which is difficult to handle. Moreover, the IMU configured to maintain high measurement accuracy is relatively heavy (for example, about 4 kg to 20 kg), so that the loadable weight is limited (for example, the loadable weight is 2.5 kg to 3.5 kg). Cannot be mounted on a flying vehicle (eg, a small unmanned helicopter operated remotely by radio).

Therefore, the present invention provides a control device, a surveying system, a program, a recording medium, and a measuring method capable of suppressing deterioration of surveying accuracy in a state where the weight mounted on the flying object is reduced without mounting an IMU. The purpose is to do.

In order to solve the above-described problems, the present invention provides a control device according to the following first aspect and second aspect.
(1) A control equipment that controls for the control device camera and GNSS shoot surveying object from aircraft (Global Navigation Satellite System) GNSS receiver for receiving radio waves from the satellite of the first aspect, before Symbol camera A storage unit that preliminarily sets information on a shutter delay time that indicates a delay of the shutter from when a shooting signal for releasing the shutter is issued until the shutter is actually released, and the shutter in the storage unit A correction control means for acquiring a correction timing that is a timing that is traced back by the shutter delay time based on information on the delay time, and a photographing signal for releasing the shutter of the camera at the correction timing acquired by the correction control means. Output control means for outputting, the output control means for a predetermined period of time While outputting the shooting signal at each shutter interval, which is an interval, immediately before outputting the shooting signal at each shutter interval, a plurality of temporary shutter intervals that are different from the shutter interval and that are different from each other are provided. control device according to claim Rukoto the temporary shutter interval pattern that combines to output the imaging signal.
In the control device according to this aspect, the output control unit outputs the imaging signal for each shutter interval that is a predetermined predetermined time interval, and immediately after outputting the imaging signal for each shutter interval. A mode in which the imaging signal is output in a temporary shutter interval pattern that is a combination of a plurality of temporary shutter intervals that are different from the shutter interval and that are different time intervals can be exemplified.
(2) Control device of the second aspect
A control device for controlling a camera for photographing a survey object from a flying object and a GNSS receiver for receiving radio waves from a GNSS (Global Navigation Satellite System) satellite, and a photographing signal for releasing the shutter of the camera is issued. A storage unit that preliminarily sets information on a shutter delay time that indicates a delay of the shutter from when the shutter is actually released, and the shutter delay time based on the information about the shutter delay time in the storage unit A correction control means for obtaining a correction timing that is a timing that is traced back; and an output control means for outputting a photographing signal for releasing the shutter of the camera at the correction timing obtained by the correction control means. The control means is provided for each shutter interval which is a time interval of a predetermined cycle. A temporary shutter interval pattern in which a plurality of temporary shutter intervals that are different from the shutter interval and are different from each other are combined immediately after the shooting signal is output to And outputting the imaging signal.

  The camera may be any camera that can release the shutter when the shooting signal is input, and a general digital camera (specifically, a commercially available digital camera) is used. Can do.

  Global Navigation Satellite System (GNSS) includes GPS: Global Positioning System (US), GLONASS: GLObal'naya NAvigatsionnaya Sputnikovaya Sistema (Russia), Galileo: Galileo (Europe), Compass: Compass (China) ), QZSS: Quasi-Zenith Satellite System (Japan).

  In the present invention, the correction control means is based on information on the shutter delay time in the storage unit with respect to a GNSS information acquisition date and time that is a date and time of the GNSS information when the GNSS information is acquired by the GNSS receiver. The aspect which acquires the said correction timing can be illustrated.

  In the present invention, the plurality of temporary shutter intervals are a first temporary shutter interval that is a predetermined predetermined time interval and a second temporary shutter that is a predetermined predetermined time interval different from the first temporary shutter interval. The output control means outputs, as the temporary shutter interval pattern, first, the shooting signal for the first temporary shutter number that is a predetermined number of times predetermined in the first temporary shutter interval, Next, the photographing signal is output for the second temporary shutter number that is a predetermined number of times that is predetermined in the second temporary shutter interval, and then for the first temporary shutter number for the first temporary shutter interval. An example of outputting the photographing signal can be exemplified.

Moreover, this invention is a surveying system provided with the control apparatus which concerns on the said invention, Comprising: The said correction | amendment control means acquires the GNSS information which is the date and time of the said GNSS information when the GNSS information is acquired with the said GNSS receiver. The correction timing is acquired based on information on the shutter delay time in the storage unit with respect to the date and time, the camera has a clock function, and the image file data of the photographed photo and the clock function It is configured to record in association with the shooting date and time that is the date and time when the photo was taken, and based on the information of the shooting date and time when the photo was taken with the camera, the image file data of the photo is A rearrangement step of rearranging in order of shooting date and time, and an image frame of the photos rearranged in order of the shooting date and time in the rearrangement step. A shooting interval calculation step for calculating a shooting interval which is a time interval between adjacent image file data in the image data, and image file data of a photograph taken by the camera based on the shooting interval calculated in the shooting interval calculation step A photograph-side interval pattern detection step for detecting where the temporary shutter interval pattern is located, and a picture taken by the camera based on the position of the temporary shutter interval pattern detected in the photograph-side interval pattern detection step. Among the photo image file data, a first photo specifying step for specifying the first image file data when the shooting of the survey target is started, and acquisition of GNSS information adjacent at the GNSS information acquisition date and time acquired by the GNSS receiver GNSS information acquisition interval that is the time interval of date and time Where is the temporary shutter interval pattern out of the GNSS information acquisition date and time acquired by the GNSS receiver based on the GNSS information acquisition interval calculation step to be issued and the GNSS information acquisition interval calculated in the GNSS information acquisition interval calculation step Of the GNSS information acquisition date acquired by the GNSS receiver based on the position of the temporary shutter interval pattern detected in the GNSS side interval pattern detection step and the GNSS side interval pattern detection step. First GNSS information acquisition date and time specifying step for specifying a survey start date and time, which is the first GNSS information acquisition date and time when shooting of a survey target is started, and images of photos rearranged in the order of the shooting date and time in the rearrangement step In the file data, specify the first photo Based on the image file data of the first photo specified in step, the predetermined period from the survey start date / time specified in the first GNSS information acquisition date / time specifying step for image file data after the first photo surveying system, wherein the GNSS information associating the GNSS information in the acquired date sequentially associating step and Bei Eteiru a computer-readable recording medium recording a program for executing the steps on a computer that contains a per also it provides.

  In the present invention, each of the steps is the survey target based on the position of the head image file data specified in the head photo specifying step, the shooting interval and the shutter interval calculated in the shooting interval calculation step. A final photo specifying step for specifying the final image file data when the shooting is finished, and the final photo specifying step in the final photo specifying step from the image file data of the leading photo specified in the leading photo specifying step A number-of-photos counting step for counting the number of image files that is the number of image file data up to the image file data of the photo; the position of the surveying start date and time specified in the start GNSS information acquisition date and time specifying step; The GNSS information acquisition interval calculated in the calculation step and the shutter. -The last GNSS information acquisition date and time specifying step for specifying the surveying end date and time, which is the final GNSS information acquisition date and time when shooting of the survey target is completed based on the interval, and the first GNSS information acquisition date and time specifying step An elapsed time calculating step of calculating an elapsed time from the surveying start date and time to the surveying end date and time based on the surveying start date and time and the surveying end date and time specified in the final GNSS information acquisition date and time specifying step; Based on the elapsed time calculated in the time calculation step and the predetermined period, the number-of-photographing step for calculating the number of images to be photographed by surveying, the number of photographs counted in the number-of-photograph counting step, and the photographing Collation step for collating whether or not the number of photographed images calculated in the number-of-sheets calculating step matches Can be exemplified further comprises manner a.

  In the present invention, each step is a location where the shooting interval calculated in the shooting interval calculation step does not match the shutter interval when the number of photographs and the number of shots do not match in the collating step. A missing part detecting step for detecting a missing part is further included, and the associating step detects the image file data after the first photograph and the GNSS information at the date and time when the GNSS information was acquired in the missing part detecting step. A mode in which the missing portion is skipped and associated can be exemplified.

  In the present invention, the camera stores the image file data of a photographed photograph in a format of an image file data format standardized so that predetermined predetermined information including photographing date / time, latitude, longitude, and altitude can be embedded. In the association step, the shooting date / time, the latitude, the longitude, and the altitude in the predetermined information of the image file data format are converted into the shooting date / time, the latitude, the longitude, and the altitude in the GNSS information. The aspect which each replaces can be illustrated.

In the present invention, before Symbol aircraft, Ri small unmanned helicopter der wirelessly remotely piloted, may be exemplified embodiments you mounted and the control device and the camera and the GNSS receiver.

  In the present invention, there can be exemplified an aspect further including a laser transmission / reception device mounted on the flying object and receiving a reflected wave from the surveying object by irradiating the surveying object with a laser beam from the flying object.

  In the present invention, an aspect further comprising: an accelerometer mounted on the flying object for measuring acceleration of the flying object; and an angular accelerometer mounted on the flying object for measuring angular acceleration of the flying object. It can be illustrated.

  The present invention also provides a program for causing a computer to execute each step in the surveying system according to the present invention.

  The present invention also provides a computer-readable recording medium on which a program for causing a computer to execute each step in the surveying system according to the present invention is recorded.

  Further, the present invention provides a photographing signal for releasing a shutter of the camera in a surveying system including a camera for photographing a survey object from a flying object and a control device for controlling a GNSS receiver for receiving radio waves from a GNSS satellite. Is a measurement method for measuring the shutter delay time indicating the delay of the shutter from when the shutter is actually released, using a timer device having a display unit that displays a timer time by a timer function, The shooting signal is output to the camera at a timing synchronized with a timer time by the timer function to shoot the display unit with the camera, and based on the timer time displayed on the display unit in the photographed photograph A measurement method characterized by measuring a shutter delay time is also provided.

  According to the present invention, it is possible to suppress deterioration in surveying accuracy in a state where the weight mounted on the flying object is reduced without mounting the IMU.

1 is a schematic perspective view schematically showing a schematic configuration of a surveying system according to an embodiment of the present invention. It is a schematic block diagram which mainly shows the control apparatus in the surveying system shown in FIG. It is a schematic block diagram which shows typically the attitude | position stabilization apparatus hold | maintained to the holding member, Comprising: (a) is the front view, (b) is the side view. BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows typically the attitude | position stabilization apparatus which hold | maintained the camera at the holding member, Comprising: (a) is a front view which shows the positional relationship of the body and attitude | position stabilization apparatus in the state which the body tilted right and left (B) is a side view showing the positional relationship between the aircraft and the posture stabilization device when the aircraft is tilted back and forth. FIG. 6 is a timing chart for explaining a shutter delay time from when a shooting signal is issued to when the shutter of the camera is actually released, wherein (a) is a diagram illustrating timing when the shooting signal is issued; (B) is a figure which shows the timing when the shutter was actually cut by the imaging | photography signal shown to (a). It is a timing chart for demonstrating correction | amendment control of shutter delay time, Comprising: (a) is a figure which shows the timing which acquired GPS information with the GPS receiver in a control apparatus, (b) is imaging | photography after correction | amendment. It is a figure which shows the timing which issued the signal, (c) is a figure which shows the timing when the shutter was actually cut | disconnected by the imaging | photography signal after correction | amendment shown in (b). It is a perspective view which shows the state which is image | photographing with the camera the timer apparatus used in order to measure the shutter delay time used for a surveying system. It is a timing chart showing an example of outputting a shooting signal with a temporary shutter interval pattern to perform temporary shooting immediately before outputting a shooting signal for each shutter interval, and (a) acquires GPS information at a predetermined cycle. (B) is a diagram showing the timing at which a shooting signal is issued, and (c) is a diagram showing the timing at which the shutter is actually released by the shooting signal shown in (b). is there. It is a schematic diagram which shows roughly the data structure of the image file data of the photograph image | photographed with the camera. It is a schematic diagram which shows roughly the data structure of the GPS information acquired by the GPS receiver. It is a schematic block diagram which shows the computer which performs a program, Comprising: (a) is a schematic perspective view of a computer, (b) is a block diagram which shows the system configuration | structure of a computer. It is a schematic block diagram which shows the control structure of the control part in the computer shown in FIG. It is a flowchart which shows an example of the matching process which matches image file data of a photograph, and GPS information. It is explanatory drawing for demonstrating the matching process shown in FIG. 13, Comprising: It is a figure which shows the image file data of a photograph. It is explanatory drawing for demonstrating the matching process shown in FIG. 13, Comprising: It is a figure which shows GPS information. It is a schematic diagram which shows the data structure of the image file data which performed the matching process shown in FIG. It is a flowchart for implementing an example of a missing prevention process in the association process shown in FIG. FIG. 18 is an explanatory diagram for explaining the omission prevention processing shown in FIG. 17, (a) is a diagram showing image file data with omission, and (b) is a diagram showing GPS information. It is a schematic diagram which shows the data structure of the image file data which performed the omission prevention process shown in FIG. It is a schematic block diagram which shows the system configuration | structure mainly showing the control apparatus in the surveying system which further mounted the laser transmission / reception apparatus, the accelerometer, and the angular accelerometer on the flying body.

  Hereinafter, an embodiment according to the present invention will be described with reference to the drawings, taking as an example a case where GPS is used as a GNSS (Global Positioning System).

  FIG. 1 is a schematic perspective view schematically showing a schematic configuration of a surveying system 100 according to an embodiment of the present invention. FIG. 2 is a schematic block diagram mainly showing the control device 40 in the surveying system 100 shown in FIG.

[Overall configuration of surveying system]
As shown in FIG. 1, the surveying system 100 includes a flying object 10, a camera 20, a GPS receiver 30, and a control device 40. Note that the flying object 10, the camera 20, and the GPS receiver 30 may not be provided in the surveying system 100, and commercially available ones can be used.

  In the present embodiment, the flying object 10 is an unmanned aerial vehicle (UAV), and here, it is a small unmanned helicopter that is radio-controlled. As this small unmanned helicopter, the number of rotors may be one, or a multicopter in which a plurality of rotors are evenly arranged around the body 11 may be used. Examples of the multicopter include a quadcopter having four rotors, a hexacopter having six rotors, and an optocopter having eight rotors. In the example shown in FIG. 1, the flying object 10 is an optocopter having eight rotors.

  The flying object 10 is a flying object with a limited loadable weight (specifically, a loadable weight of about 2.5 kg to 3.5 kg), and is relatively configured to maintain high measurement accuracy. A heavy (specifically, about 4 kg to 20 kg) IMU cannot be mounted.

  The flying object 10 is equipped with a camera 20, a GPS receiver 30, and a control device 40. It should be noted that the weight mounted on the flying object 10 includes the camera 20, the GPS receiver 30 and the control device 40, the laser transmission / reception device 50 described later, the triaxial accelerometer 60, and the triaxial angular accelerometer 70 (FIG. 20). Even if (see) is added, the weight is less than the loadable weight (for example, 2.5 kg) of the flying object 10.

  The camera 20 is mounted on the flying object 10 and photographs the survey target 200 (see FIG. 1) such as terrain and structures from the flying object 10.

  In the present embodiment, the camera 20 is a commercially available digital camera. The camera 20 has a remote release terminal 21 (see FIG. 2) for releasing a shutter by an external photographing signal, and the remote release terminal 21 is electrically connected to the output system of the control device 40. ing.

  The camera 20 has a clock function, and records image file data of a photographed photograph in association with a photographing date and time (date and time) when the photograph is photographed by the clock function. It is said that.

  Specifically, the camera 20 standardizes an image file data format (specifically, Exif) in which image file data of a photographed photograph can be embedded with predetermined predetermined information including a shooting date, latitude, longitude, and altitude. (Registered trademark): Exchangeable image file format) is stored in the first external recording medium ME1 (see FIG. 2). The first external recording medium ME1 is not limited to this, but a typical example is an SD (Secure Digital) memory card.

  The GPS receiver 30 includes a GPS antenna 31 (see FIG. 2), receives radio waves from the GPS satellite 300 (see FIG. 1) by the GPS antenna 31, and based on the radio waves from the GPS satellite 300, the date, time, latitude Information such as longitude and altitude can be acquired. That is, the GPS receiver 30 calculates time (coordinated universal time (UTC)), latitude, longitude, and altitude from the GGA (Global Positioning System Fix Data) according to the NMEA (National Marine Electronics Association) standard. & Date) (Date, year, month, day) (UTC) is acquired. In addition, the GPS antenna 31 in the GPS receiver 30 is provided in the vicinity of the imaging unit in the camera 20 from the viewpoint of obtaining accurate photographing information (position and orientation) values.

  Specifically, the flying object 10 includes an attitude stabilization device 12 (so-called stabilizer) (see FIGS. 3 and 4 to be described later) that maintains the attitude horizontally because the attitude tilts forward, backward, left, and right during flight. The camera 20 is held (specifically mounted) on a holding member 122 (specifically a mounting table) in the posture stabilization device 12.

  3 and 4 are schematic configuration diagrams schematically showing the posture stabilization device 12 that holds the camera 20 on the holding member 122. FIG. 3A is a front view thereof, and FIG. 3B is a side view thereof. 4A is a front view showing the positional relationship between the body 11 and the posture stabilization device 12 in a state where the body 11 is tilted left and right, and FIG. 4B is a view where the body 11 is tilted back and forth. It is a side view which shows the positional relationship of the body 11 and the attitude | position stabilization apparatus 12 in a state.

  The posture stabilization device 12 is provided in the lower part of the airframe 11 (see FIG. 4), and includes a support member (specifically, a support frame) 121 and a holding member 122. The support member 121 is provided to be rotatable about the first rotation axis Z (specifically, the rotation shaft 121a) along the front-rear direction with respect to the body 11. The holding member 122 is provided to be rotatable about the second rotation axis B (specifically, the rotation shaft 122a) along the left-right direction with respect to the support member 121.

  The camera 20 is detachably attached to the holding member 122 so that the lens 22 faces downward. Here, the point indicated by the symbol C in FIGS. 3 and 4 is the imaging center C of the camera 20, and when considering only the configuration of the support member 121 and the holding member 122, The second rotation axis B and the imaging center C are made to coincide with each other so that the imaging center C does not deviate even if the body 11 is tilted about the two rotation axes B.

  Further, the GPS antenna 31 (see FIG. 4) is, in a plan view, the imaging center C of the aircraft 11 regardless of the attitude of the aircraft 11, in other words, a vertical virtual straight line D (FIG. 4) passing through the imaging center C. (See above) (specifically, above the camera 20).

  In the posture stabilization device 12 having such a configuration, when viewed from the front (see FIG. 4A), even if the airframe 11 is inclined in the rolling direction Z1, which is the left-right direction, the support member 121 is As shown in FIG. 4 (b), the aircraft body 11 is inclined in the pitching direction B1, which is the front-rear direction. In addition, the holding member 122 can rotate relative to the support member 121 around the second rotation axis B. Thereby, even if the airframe 11 is inclined in the rolling direction Z1 and / or the pitching direction B1, the camera 20 supported by the airframe 11 via the support member 121 and the holding member 122 can be always kept horizontal. .

  By the way, if the GPS antenna 31 is provided in the airframe 11, the attitude of the airframe 11 is inclined, and thus the displacement of the rolling direction Z1 and / or the pitching direction B1 occurs compared to the horizontal state of the airframe 11. In the present embodiment, as described above, regardless of the attitude of the machine body 11, it is disposed at the imaging center C of the machine body 11 in plan view. Specifically, as shown in FIGS. 3 and 4, the GPS antenna 31 is attached to a holding member 122 that holds the camera 20 and maintains a horizontal posture via a support arm member (specifically, a mounting frame) 123. Is provided. Therefore, the gap between the center of the GPS antenna 31 and the imaging center C is only the vertical distance L (see FIG. 4). The vertical deviation of the distance L is within an allowable range with respect to the measurement accuracy.

  The control device 40 is mounted on the flying object 10 and controls the camera 20 and the GPS receiver 30.

  The control device 40 (see FIG. 2) includes a storage unit 41 including a nonvolatile memory 41a such as a ROM (Read Only Memory) or an electrically rewritable nonvolatile ROM, a volatile memory 41b such as a RAM (Random Access Memory), and a CPU ( And a processing unit 42 composed of a microcomputer such as a Central Processing Unit.

  The control device 40 operates the various components by causing the processing unit 42 to load a control program stored in advance in the ROM of the nonvolatile memory 41a of the storage unit 41 onto the RAM of the volatile memory 41b of the storage unit 41 and execute it. It comes to perform control.

  The storage unit 41 includes a writing unit 41c. The writing unit 41c is configured to be able to insert and remove the second external recording medium ME2, and writes the GPS information from the GPS receiver 30 to the second external recording medium ME2 with the second external recording medium ME2 attached. It is possible to be configured. The second external recording medium ME2 is not limited to this, but typically an SD memory card can be exemplified.

  By the way, in a surveying system that acquires a value of absolute shooting information using a GPS receiver, it is absolutely necessary that the time when shooting is performed with the camera and the time when GPS information is acquired with the GPS receiver are not exactly matched. Therefore, it is impossible to accurately obtain the value of the photographing information, which causes a survey error, and the survey accuracy is deteriorated.

  FIG. 5 is a timing chart for explaining the shutter delay time Td from when the shooting signal PS is issued until the shutter of the camera 20 is actually released. FIG. 5A shows the timing at which the photographing signal PS is issued. FIG. 5B shows the timing when the shutter is actually released by the photographing signal PS shown in FIG.

  In the camera 20, there is a shutter delay time Td (0.1 seconds in this example) (see FIG. 5B). Then, the position and orientation of the GPS information acquisition date ta, which is the date and time of GPS information when GPS information is acquired by the GPS receiver 30, are different from the actual shooting position and shooting posture.

  In this respect, in the present embodiment, in the electrically rewritable nonvolatile ROM in the nonvolatile memory 41a of the storage unit 41, the shooting signal PS for releasing the shutter of the camera 20 is issued until the shutter is actually released. Information (here, the shutter delay time Td) relating to the shutter delay time Td (0.1 seconds in this example) indicating the shutter delay is preset (stored).

  And the control apparatus 40 is set as the structure provided with the correction control means M1 and the output control means M2.

  FIG. 6 is a timing chart for explaining correction control of the shutter delay time Td. FIG. 6A shows the timing at which GPS information is acquired by the GPS receiver 30 in the control device 40. FIG. 6B shows the timing at which the photographic signal PS after correction is issued. FIG. 6C shows the timing when the shutter is actually released by the corrected photographic signal PS shown in FIG. 6B.

  The correction control means M1 reads information on the shutter delay time Td preset in the storage unit 41 (here, the shutter delay time Td), and sets the GPS information acquisition date ta when the GPS information is acquired by the GPS receiver 30. On the other hand, a correction timing that is a timing (date and time) retroactive to the shutter delay time Td (0.1 seconds in this example) based on the information (here, the shutter delay time Td) related to the shutter delay time Td read from the storage unit 41. (Correction date / time) tb (see FIG. 6B) is acquired. Here, “when GPS information is acquired by the GPS receiver 30” means m times the GPS reception period (specifically, 1 second) for receiving radio waves from the GPS satellite 300 (m is an integer of 1 or more). Examples of the predetermined period and any arbitrary time among the GPS reception periods can be given. Here, when GPS information is acquired by the GPS receiver 30, the time is every 2 seconds, which is twice as long as the GPS reception cycle (specifically, 1 second).

  Specifically, the correction control means M1 determines a predetermined period Ta (here, 2 seconds) with respect to the GPS information acquisition date ta (previous) (for example, 0 hours 0 minutes 0 seconds) when the GPS information was previously acquired by the GPS receiver 30. 6 (a)), a calculation time Tb (1 in this example) is obtained by subtracting the shutter delay time Td read from the storage unit 41 (in this example, 0.1 second, see FIG. 6 (b)). .9 seconds (see FIG. 6B)) is set to the correction timing tb (see FIG. 6C), which is obtained by adding the date and time (for example, 0 hours 0 minutes and 1.9 seconds). .

  In the present embodiment, the shutter delay time Td is set (stored) in the storage unit 41 in advance. However, instead of the shutter delay time Td, the calculation time Tb is set (stored) in the storage unit 41 in advance. The correction control means M1 may be configured so that the correction date / time obtained by adding the set calculation time Tb to the previous GPS information acquisition date / time ta is the correction timing tb.

  Then, the output control means M2 (see FIG. 2) outputs a photographing signal PS (see FIG. 6B) for releasing the shutter of the camera 20 in synchronization with the correction timing tb acquired by the correction control means M1. . Specifically, the output control means M2 outputs the photographing signal PS after the calculation time Tb (1.9 seconds in this example) from the previous GPS information acquisition date ta (previous).

  According to the surveying system 100 according to the present embodiment, the storage unit 41 has a shutter indicating the delay of the shutter between when the shooting signal PS for releasing the shutter of the camera 20 is issued and when the shutter is actually released. Information about the delay time Td (here, the shutter delay time Td) is set in advance. Then, the control device 40 acquires the correction timing tb that is traced back by the shutter delay time Td based on the information related to the shutter delay time Td in the storage unit 41 (here, the shutter delay time Td), and the imaging signal at the acquired correction timing tb. PS is output. In this example, the control device 40 has a shutter delay time Td based on information (here, shutter delay time Td) related to the shutter delay time Td in the storage unit 41 with respect to the GPS information acquisition date ta acquired by the GPS receiver 30. The correction timing tb traced back is acquired, and the imaging signal PS is output at the acquired correction timing tb. That is, the photographing signal PS is output earlier than the GPS information acquisition date ta by the shutter delay time Td. In this way, as shown in FIG. 5, even if there is a shutter delay time Td from when the shooting signal PS is issued until the shutter of the camera 20 is actually released, the GPS receiver 30 Thus, the position and posture at the time when the GPS information is acquired can be matched with the actual shooting position and posture (see FIG. 6C).

  In addition, since it is not necessary to use a relatively heavy (for example, about 4 kg to 20 kg) IMU by performing such correction, the loadable weight is limited (specifically, the load is limited). The vehicle 10 (with a possible weight of about 2.5 kg to 3.5 kg) (here, a small unmanned helicopter that is remotely controlled by radio) has the camera 20, the GPS receiver 30, and the control device 40 mounted on it. Photogrammetry can be performed while flying.

  Thus, according to the present embodiment, it is possible to suppress the deterioration of the surveying accuracy in a state where the weight mounted on the flying object 10 is reduced without mounting the IMU.

  In the surveying system 100 according to the present embodiment, the shutter delay time Td is measured as follows to correct the survey error due to the shutter delay time Td.

  FIG. 7 is a perspective view showing a state in which the timer device 400 used for measuring the shutter delay time Td used in the surveying system 100 is captured by the camera 20.

  In the surveying system 100, the timer device 400 having the display unit 420 that displays the timer time by the timer function is used, and the shooting signal PS is output to the camera 20 at a timing synchronized with the timer time by the timer function. The shutter delay time Td is measured based on the timer time displayed on the display unit 420 in the photograph taken.

  Specifically, in the surveying system 100, a timer with a timer function synchronized with a signal at a constant interval (here, PPS: Pulse Per Second signal: a pulse signal with a period of 1 second) obtained by receiving from the GPS satellite 300. Using the timer device 400 having the display unit 420 for displaying the time, the shutter of the camera 20 is moved at a timing synchronized with a signal (here, a PPS signal) at a constant interval obtained by receiving from the GPS satellite 300 by the GPS receiver 30. A photographing signal PS for cutting is output from the control device 40 to the camera 20 and the display unit 420 is photographed by the camera 20, and the shutter delay time Td is measured based on the timer time displayed on the display unit 420 in the photographed photograph. To do.

  Specifically, the timer device 400 receives a radio wave from the GPS satellite 300 and acquires a PPS signal at a constant interval based on the radio wave from the GPS satellite 300, and the timer device 400 acquires it by the GPS receiver 410. The timer function with a predetermined accuracy (here, accuracy of 1/10000 second) that can be synchronized with the PPS signal at a constant interval and that can measure the shutter delay time Td, and the timer time by the timer function are displayed. And a display unit 420.

  The control device 40 is configured to output to the camera 20 a photographing signal PS for releasing the shutter of the camera 20 at a timing synchronized with the PPS signal at regular intervals acquired by the GPS receiver 30.

  Here, the display unit 420 is a 7-segment display unit that performs 7-segment display, and displays the timer time synchronized with the PPS signal with an accuracy of 1/10000 seconds.

  Further, the camera 20 has a remote release terminal 21 electrically connected to the output system of the control device 40, and the imaging signal PS is sent from the control device 40 to the GPS receiver 30 via the remote release terminal 21. The shutter is released when it is input at a timing synchronized with the PPS signal obtained at regular intervals.

  Then, the measurer takes a picture of the display unit 420 displaying the timer time by the timer function synchronized with the PPS signal at regular intervals by the camera 20, and based on the timer time displayed on the display unit 420 in the photographed photograph. The shutter delay time Td is measured. Specifically, the case where the shutter delay time Td is 0.0015 seconds will be described as an example. The display unit 420 in the photographed photograph even if the timer time when the photographing signal PS is input to the camera 20 is 1.000 seconds. 1.0015 seconds appear in the image of 2.0015, and 2.0015 seconds appear in the image of the display 420 in the photographed photograph even if the timer time when the photographing signal PS is input to the camera 20 is 2.0000 seconds. Furthermore, even if the timer time when the photographing signal PS is input to the camera 20 is 3.0000 seconds, 3.0015 seconds are captured in the image of the display unit 420 in the photographed photograph. That is, among the values displayed in the image of the display unit 420 in the photographed photograph, a value after the decimal point can be used as the shutter delay time Td.

  As described above, the shutter delay time Td can be easily obtained by a simple operation of photographing the display unit 420 with the camera 20 using the timer device 400. Specifically, by using the GPS receiver in both the timer device 400 and the control device 40, the timer time displayed on the display unit 420 in the timer device 400 and the shooting signal PS output from the control device 40 to the camera 20 are displayed. It is possible to easily and easily realize accurate synchronization.

  Note that the shutter delay time Td has almost no difference between cameras of the same model, and has a large difference between cameras of different manufacturers or different models of the same manufacturer. Therefore, in the surveying system 100, if the manufacturer or model of the camera 20 changes, the shutter delay time Td can be reset for the storage unit 41 in the control device 40.

  When the accuracy of the timer function and internal signal delay can be allowed, the shooting function has a timer function and a display unit for displaying the timer time by the timer function, and is used to release the shutter of the camera. Is input, a timer device that starts the timer function is used, and in the state where the timer function is reset, a shooting signal is simultaneously input to the timer device and the camera, and the display unit is shot with the camera. The timer time displayed on the screen may be used as the shutter delay time.

  By the way, when the camera 20 mounted on the flying object 10 finishes the main shooting, there may be a case where not only the photo to be surveyed but also a photo not related to the survey, such as a snap photo or a test shot for focusing. The image file data DT1 (see FIG. 9 described later) of the photographed photograph and the GPS information DT2 (see FIG. 10 described later) are not necessarily associated with each other.

  In this regard, it is conceivable that the camera 20 performs an association process, which is a process of associating the image file data DT1 after the top photo with the GPS information DT2 after the top GPS information acquisition date and time, If the associating process is performed in the camera 20, it is necessary to use a dedicated camera, which increases the cost. Therefore, a commercially available camera cannot be used as it is.

  Therefore, in the present embodiment, the control device 40 performs provisional photographing immediately before and / or immediately after photographing (here, immediately before) photographing that is photographing for surveying the survey target 200. Yes.

  Specifically, the output control means M2 (see FIG. 2) performs the actual photographing, and the shutter interval Ts at the time of actual photographing which is a time interval of a predetermined period Ta (here 2 seconds) in synchronization with the correction timing tb. A shooting signal PS (see FIG. 8B) is output every time (see FIG. 8A described later), but in order to perform temporary shooting immediately before and / or immediately after (here, immediately before), The imaging signal PS is output with the shutter interval pattern PT (see FIG. 8A).

  FIG. 8 is a timing chart showing an example of outputting the shooting signal PS with the temporary shutter interval pattern PT to perform temporary shooting immediately before outputting the shooting signal PS at every shutter interval Ts. FIG. 8A shows the timing at which GPS information is acquired at a predetermined period Ta. FIG. 8B shows the timing at which the photographing signal PS is issued. FIG. 8C shows the timing when the shutter is actually released by the photographing signal PS shown in FIG.

  The predetermined period Ta for acquiring the GPS information is 2 seconds here, but any period as long as it is m times the GPS reception period (specifically, 1 second) of the radio wave from the GPS satellite 300. For example, it may be the same 1 second as the GPS reception cycle or 5 seconds.

  The temporary shutter interval pattern PT is different from the shutter interval Ts and has a plurality of temporary shutter intervals T (1) to T (n) (n is an integer of 2 or more, here n = 2). Is a combination. In the present embodiment, the shooting signal output at the temporary shutter intervals T (1) and T (2) is a signal obtained by correcting the shutter delay time Td. By allowing it, the signal may not be corrected.

  As described above, a plurality of temporary shutter intervals T (1), Tx for performing temporary shooting immediately before and / or immediately after outputting the shooting signal PS for each shutter interval Ts for performing actual shooting. When the photographing is started in the image file data DT1 (see FIG. 14 described later) of the photograph photographed by the camera 20 by outputting the photographing signal PS with the temporary shutter interval pattern PT combined with T (2). The first image file data DT1_st and the last image file data DT1_ed can be easily found, and the GPS information acquisition date ta (see FIG. 15) acquired by the GPS receiver 30 is the first GPS information acquisition date and time. It is possible to easily find a certain survey start date / time ta_st and a survey end date / time ta_ed which is the last GPS information acquisition date / time. Kill. That is, the temporary shutter interval pattern PT can be used as an index of the image file data DT1_st of the first photo, the image file data DT1_ed of the last photo, the survey start date ta_st, and the survey end date ta_ed. The search for the top image file data DT1_st, the last image file data DT1_ed, the survey start date / time ta_st, and the survey end date / time ta_e will be described in detail in the association processing described later.

  Moreover, it is only necessary to cause the camera 20 to perform a photographing operation using the photographing signal PS. Therefore, a commercially available camera can be used as it is without using a dedicated camera.

  In the present embodiment, among the plurality of temporary shutter intervals T (1), T (2), the first temporary shutter interval T (1) is a predetermined time interval, and the second temporary shutter interval The interval T (2) is a predetermined time interval different from the first temporary shutter interval T (1).

  In the example shown in FIG. 8, the first temporary shutter interval T (1) is a time interval other than a predetermined cycle Ta (here, 2 seconds) and is a times the GPS reception cycle (specifically 1 second) ( a is an integer greater than or equal to 1, here a = 9). The second temporary shutter interval T (2) is a time interval other than a predetermined cycle Ta (here 2 seconds) and is b times the GPS reception cycle (specifically 1 second) (b is the value of a) The time interval is set to a different integer of 1 or more, here b = 6).

  Specifically, the output control means M2 first (when temporary imaging is started) as the temporary shutter interval pattern PT, at a predetermined time that is predetermined once or twice or more at the first temporary shutter interval T (1). The photographing signal PS is output for the number of times of the first temporary shutter (here, once). Next, the output control means M2 captures the imaging signal PS by the number of second temporary shutters (here, twice) which is a predetermined number of times that is predetermined once or twice or more at a second temporary shutter interval T (2). Is output. Next, the output control means M2 is configured to output the imaging signal PS for the first provisional shutter number (here, once) at the first provisional shutter interval T (1) (when the provisional photography is finished). ing.

  In this way, as the temporary shutter interval pattern PT, first, the photographing signal PS is output for the first temporary shutter number (here, once) at the first temporary shutter interval T (1) (here, 9 second interval). Next, the shooting signal PS is output for the second temporary shutter number (here, twice) at the second temporary shutter interval T (2) (here, 6 seconds), and then the first temporary shutter interval T (1) It is possible to easily recognize the temporary shutter interval pattern PT by outputting the photographing signal PS by the number of first temporary shutters (for example, once) at an interval of 9 seconds (here, every 9 seconds).

  In the camera 20, the image file data DT1 of the photographed photograph is associated with the photographing date and time that is the date and time when the photograph was photographed by the clock function of the camera 20, and a predetermined image file data format (here, Exif ( (Registered trademark)) in the first external recording medium ME1. Since the clock function of the camera 20 has low accuracy, the date and time by the clock function of the camera 20 does not coincide with the date and time of GPS information. In this example, the date and time advanced by 22 seconds from the date and time of GPS information. It is said that.

  On the other hand, in the control device 40, GPS information (specifically, information such as date, time, latitude, longitude, altitude) DT2 acquired by the GPS receiver 30 is stored in the second external recording medium ME2 in the storage unit 41. Here, the control device 40 may store information such as latitude, longitude, and altitude in the GPS information in the second external recording medium ME2 every time GPS information is acquired. Only during the actual photographing of the target 200, the image is stored in the second external recording medium ME2. Further, the date and time (UTC) of the GPS information is stored in the second external recording medium ME2 in a state converted to the local date and time.

  FIG. 9 is a schematic diagram schematically showing the data structure of the image file data DT1 of a photograph taken by the camera 20. As shown in FIG. FIG. 10 is a schematic diagram schematically showing the data structure of the GPS information DT2 acquired by the GPS receiver 30. As shown in FIG. In addition, in FIG. 10, FIG. 15, FIG. 16, FIG.18 (b) and FIG. 19 mentioned later, the value of the longitude, the latitude, and an altitude is represented with the code | symbol, and is different from an actual value.

  When the camera 20 mounted on the flying object 10 finishes the main photographing, the image file data DT1 of the photograph shown in FIG. 9 stored in the camera 20 includes a photograph not related to the surveying, and the latitude, Longitude and altitude information is not embedded. On the other hand, the GPS information DT2 (specifically, information such as date, time, latitude, longitude, and altitude) stored in the control device 40 shown in FIG. 10 does not know which of the photo image file data DT1 corresponds to. .

  Therefore, in the present embodiment, by causing the computer 500 (specifically, a personal computer) to execute the program P, image file data DT1 (see FIG. 9) and GPS information DT2 (see FIG. 10) of the photographed photograph Are associated.

[Computer system configuration]
FIG. 11 is a schematic configuration diagram illustrating a computer 500 that executes the program P. FIG. 11A is a schematic perspective view of the computer 500, and FIG. 11B is a block diagram showing the system configuration of the computer 500.

  The computer 500 includes an input unit 510 including a keyboard and a pointing device, and a display unit 520 such as a display as external devices (man-machine interfaces).

  Further, as illustrated in FIG. 11B, the computer 500 includes, as an internal device, a control unit 530 that executes various processes for executing a program P and various arithmetic processes, and a storage unit 540. And a first reading unit 550 and a second reading unit 560.

  The control unit 530 displays various input screens on the display unit 520, and the user operates the input unit 510 to receive input of necessary information.

  The storage unit 540 includes a volatile memory 541 such as a RAM and a nonvolatile memory 542 such as a hard disk device or a flash memory.

  The volatile memory 541 is appropriately used as a work memory or the like when the control unit 530 executes various processing such as arithmetic processing.

  The first reading unit 550 reads a recording medium M such as a CD (Compact Disc) -ROM on which the program P is recorded. Software including the program P read by the first reading unit 550 is stored (installed) in the nonvolatile memory 542 in advance. The recording medium M may be a USB (Universal Serial Bus) memory or an SD (Secure Digital) memory card. The program P may be downloaded through an internet line.

  In addition, the second reading unit 560 includes the first external recording medium ME1 storing the image file data DT1 (see FIG. 9) of the photograph in which the shooting date and time are incorporated, and the GPS information DT2 (see FIG. 10) is read from the second external recording medium ME2. In the nonvolatile memory 542, the image file data DT1 read by the second reading unit 560 is stored in advance. The nonvolatile memory 542 stores GPS information DT2 read by the second reading unit 560 in advance. In the surveying system 100, the image file data DT1 in the camera 20 and the GPS information DT2 in the control device 40 are transmitted via predetermined wired communication means such as a USB standard or a predetermined wireless communication line such as a wireless LAN (Local Area Network). You may make it preserve | save in the non-volatile memory 542 in the computer 500. FIG.

[Software configuration of the program]
FIG. 12 is a schematic configuration diagram showing a control configuration of the control unit 530 in the computer 500 shown in FIG.

  The program P includes a rearrangement step, a shooting interval calculation step, a photo side interval pattern detection step, a head photo identification step, a GPS information acquisition interval calculation step, a GPS side interval pattern detection step, and a start GPS information acquisition date and time. The control unit 530 is caused to execute each step including the specific step and the association step. That is, the control unit 530 includes a rearrangement unit P1, a shooting interval calculation unit P2, a photo side interval pattern detection unit P3, a head photo specifying unit P4, a GPS information acquisition interval calculation unit P5, and a GPS side interval pattern detection. It functions as each means including means P6, head GPS information acquisition date and time specifying means P7, and association means P8.

  A flowchart of the processing example shown in FIG. 13 for associating the photo image file data DT1 with the GPS information DT2 will be described below with reference to FIGS. Note that means not described in FIG. 12 will be described later.

  FIG. 13 is a flowchart showing an example of the association process for associating the photo image file data DT1 with the GPS information DT2. 14 and 15 are explanatory diagrams for explaining the association processing shown in FIG. FIG. 14 shows photo image file data DT1, and FIG. 15 shows GPS information DT2.

  Prior to the associating process, the control unit 530 stores the temporary shutter interval pattern PT (here 9 seconds → 6 seconds → 6 seconds → 9 seconds) and the shutter interval Ts (here 2 seconds) in the nonvolatile memory of the storage unit 540. It is set in advance to 542.

  First, as shown in FIGS. 13 and 14, the control unit 530 rearranges the image file data DT1 of the photograph by rearranging the photographing date and time when the photograph was taken by the camera 20 by the rearranging unit P1 in ascending order. Rearranged in ascending order of shooting date and time (step S1).

  Next, the control unit 530 uses the shooting interval calculation unit P2 to take a shooting interval which is a time interval between adjacent image file data DT1 in the image file data DT1 of the photos rearranged in ascending order of the shooting date and time by the rearranging unit P1. DG (see FIG. 14) is calculated (step S2).

  Next, the control unit 530 uses the photo-side interval pattern detection unit P3 to set the temporary shutter interval pattern PT (here, 9 seconds → 6 seconds → 6 seconds → 9) with respect to the shooting interval DG calculated by the shooting interval calculation unit P2. Second) are sequentially compared, and the temporary shutter interval pattern PT is detected in the image file data DT1 of the photograph taken by the camera 20 (step S3).

  Next, the control unit 530 uses the first photo specifying unit P4 to temporarily store the image file data of the photograph taken by the camera 20 from the position of the temporary shutter interval pattern PT detected by the photo side interval pattern detecting unit P3. Start of actual photographing (start of surveying) of image file data DT1 (positions “00010.JPG”, “00027.JPG”, “00056.JPG” in the example of FIG. 14) next to the position of the shutter interval pattern PT The first image file data DT1_st at this time is specified (step S4).

  Next, the control unit 530 calculates a GPS information acquisition interval GG (see FIG. 15), which is a time interval between adjacent GPS information acquisition dates and times in the GPS information acquisition date and time ta acquired by the GPS receiver 30, as GPS information acquisition interval calculation means P5. (Step S5).

  Next, the control unit 530 sequentially compares the temporary shutter interval pattern PT (here 9 seconds → 6 seconds → 6 seconds → 9 seconds) with the GPS information acquisition interval GG calculated by the GPS information acquisition interval calculating means P5. Then, the GPS side interval pattern detection means P6 detects where the temporary shutter interval pattern PT is located in the GPS information acquisition date ta acquired by the GPS receiver 30 (step S6).

  Next, the control unit 530 acquires the GPS information acquisition date ta acquired by the GPS receiver 30 from the position of the temporary shutter interval pattern PT detected by the GPS side interval pattern detection unit P6 by the leading GPS information acquisition date specifying unit P7. Among them, the GPS information acquisition date ta following the position of the temporary shutter interval pattern PT (in the example of FIG. 15, “2012.12.3 11:35:02”, “2012.12.3 12:46:06”, “2012.12. 4 13:33:23 ”) is specified as the surveying start date and time ta_st, which is the top GPS information acquisition date and time ta when the actual photographing is started (step S7).

  Next, the control unit 530 uses the associating unit P8 to specify the image file of the first photo specified by the first photo specifying unit P4 in the image file data DT1 of the photos rearranged in the order of the shooting date and time by the rearranging unit P1. With respect to the image file data DT1 after the first photo on the basis of the data DT1_st, the GPS information for every predetermined period Ta (here 2 seconds) from the survey start date / time ta_st specified by the start GPS information acquisition date / time specifying means P7 The GPS information DT2 (specifically, information such as date, time, latitude, longitude, altitude) at the acquisition date and time ta is associated in order (step S8).

  In this way, the image file data DT_st and the survey start date / time ta_st of the first photo can be easily retrieved by a simple method of temporary shooting (that is, shooting a temporary (dummy) photo) using the temporary shutter interval pattern PT. Can do. In addition, the program P can cause the computer 500 to perform processing for associating the image file data DT1 after the first photo with the GPS information DT2 at the GPS information acquisition date ta, so that the camera 20 can perform the image after the first photo. Since it is not necessary to associate the file data DT1 with the GPS information DT2 at the GPS information acquisition date and time, a commercially available camera can be used as it is.

  In general, in commercially available application software that creates a 3D map using the shooting date / time, latitude, longitude, and altitude of a photo image file data, predetermined predetermined information including the shooting date / time, latitude, longitude, and elevation is used. In many cases, image file data in an image file data format (for example, Exif (registered trademark)) standardized so as to be embedded is used.

  FIG. 16 is a schematic diagram showing a data structure of the image file data DT1 subjected to the association process shown in FIG.

  In the present embodiment, the association means P8 is configured to replace the shooting date / time, latitude, longitude, and altitude in the predetermined information of the image file data format with the shooting date / time, latitude, longitude, and altitude in the GPS information DT2, respectively. (See the portion surrounded by the frame in FIG. 16). Here, the GPS information DT2 has been subjected to analysis processing by post-processing (post-processing) using raw data acquired by the GPS receiver 30, and has a higher accuracy value.

  Thus, by replacing the shooting date / time, latitude, longitude, and altitude in the predetermined information of the image file data format with the shooting date / time, latitude, longitude, and altitude in the GPS information DT2 acquired by the GPS receiver 30, respectively, The image file data DT1 after the photo and the GPS information DT2 at the GPS information acquisition date ta can be easily associated. For example, when using commercially available application software for creating a three-dimensional map, the GPS information at the GPS information acquisition date ta It is possible to use the image file data DT1 of a photograph associated with DT2 without being processed.

  In the case where the shooting signal PS is output with the temporary shutter interval pattern PT immediately after the shooting signal PS for performing the actual shooting is output, not immediately before the shooting signal PS is output, the following can be performed.

  That is, the head photo specifying means P4 is the image file data that is in front of the position of the temporary shutter interval pattern PT in the image file data DT1 from the position of the temporary shutter interval pattern PT detected by the photo side interval pattern detecting means P3. By identifying DT1 as the final image file data DT1_ed when the actual shooting is completed (surveying completed), and applying the shutter interval Ts (here 2 seconds) in order to the shooting interval DG before the final image file data DT1_ed. The head image file data DT1_st at the start of the main shooting can be found. The leading GPS information acquisition date and time specifying means P7 is located before the position of the temporary shutter interval pattern PT in the GPS information acquisition date and time ta from the position of the temporary shutter interval pattern PT detected by the GPS side interval pattern detecting means P6. A certain GPS information acquisition date / time ta is specified as a surveying end date / time ta_ed which is the final GPS information acquisition date / time ta when the main photographing is finished, and a shutter interval Ts (here, a GPS information acquisition date / time ta_ed). 2 seconds) in order, the survey start date and time ta_st when the actual photographing is started can be found. Here, when the shooting signal PS is output with the temporary shutter interval pattern PT both immediately before and after outputting the shooting signal PS for performing the main shooting, to the camera 20 of the shooting signal PS for performing the main shooting. The temporary shutter interval pattern PT may be changed before and after the output. In this way, it is possible to easily distinguish the temporary shutter interval pattern PT at the beginning and the temporary shutter interval pattern PT at the end.

  Further, the date and time by the clock function of the camera 20 is used to calculate the shooting interval DG of the adjacent image file data DT1 in the shooting interval calculation means P2, and therefore does not necessarily need to match the date and time of the GPS information DT2. Therefore, the date and time by the clock function of the camera 20 may be a value that is 22 seconds ahead of the date and time of the GPS information DT2 as in this example.

  In the present embodiment, the associating means P8 rewrites the shooting date / time, latitude, longitude, and altitude of the image file data DT1, but the present invention is not limited to this. A table storing the corresponding GPS information DT2 in association with each other may be created separately.

  By the way, even if the main photographing that is the photographing of the surveying object is started and the photographing signal PS is output to the camera 20, the photographing may not be performed for some reason. In this case, the image file data DT1 of a photo that should be periodically photographed at the shutter interval Ts on the camera 20 side is lost in the middle, even though the photographing date and time is recorded on the control device 40 side. Will occur.

  In this regard, the program P includes a step of performing a missing prevention process for preventing missing of the image file data DT1. Specifically, each step in the program P includes a final photo specifying step, a photo number counting step, a final GPS information acquisition date specifying step, an elapsed time calculating step, a photographed number calculating step, a collating step, and a missing part detection. And further comprising steps. That is, as shown in FIG. 12, the control unit 530 includes a final photo specifying unit P9, a photo number counting unit P10, a final GPS information acquisition date specifying unit P11, an elapsed time calculating unit P12, and a photographed number calculating unit P13. And each means further including a collating means P14 and a missing part detecting means P15.

  Hereinafter, a flowchart for performing the omission prevention process shown in FIG. 17 in the association process shown in FIG. 13 will be described with reference to FIGS. 18 and 19.

  FIG. 17 is a flowchart for carrying out an example of the omission prevention process in the association process shown in FIG. FIG. 18 is an explanatory diagram for explaining the omission prevention processing shown in FIG. FIG. 18A shows missing image file data DT1. FIG. 18B shows the GPS information DT2. FIG. 19 is a schematic diagram showing a data structure of the image file data DT1 subjected to the omission prevention process shown in FIG. In the following, when the first (first) surveying is performed among the three surveys in the image file data DT1 illustrated in FIG. 14, the date and time on the camera side illustrated in FIG. : 35: 30 ”,“ 2012.12.3 11:35:42 ”, and the GPS date and time shown in FIG. 18B is“ 2012.12.3 11:35:08 ”,“ 2012.12.3 11:35:20 ” The case where the omission of the image file data DT1 occurs will be described as an example.

  The omission prevention process shown in FIG. 17 is provided between the process of step S7 and the process of step S8 in the association process shown in FIG.

  After the processing of step S8 shown in FIG. 13, the control unit 530, as shown in FIG. 17 and FIG. 18, uses the final photo specifying means P9 to specify the top image file data DT1_st (FIG. 18 (a)) and the shooting interval DG calculated by the shooting interval calculation means P2 and the shutter interval Ts (here, 2 seconds), the final of the image file data DT1 when the main shooting is finished. Image file data DT1_ed (see FIG. 18A) is specified (step S9).

  Specifically, the final photograph specifying unit P9 has a discontinuous time interval (see α1 in FIG. 18A) that is larger than the shutter interval Ts (here, 2 seconds) in the shooting interval DG calculated by the shooting interval calculation unit P2. Even if there is one or more in this case (4 seconds), the imaging interval DG before or after the discontinuous time interval α1 (here 4 seconds) is the shutter interval Ts (here 2 seconds) and is discontinuous. If the time interval α1 (here 4 seconds) is within a time c times the shutter interval Ts (c is an integer of 2 or more) (for example, 5 times the shutter interval Ts = 10 seconds), there is no discontinuous time interval α1. It is supposed to be regarded as a thing.

  This process can be omitted when the output control means M2 in the control device 40 outputs the shooting signal PS with the temporary shutter interval pattern PT immediately after outputting the shooting signal PS for each shutter interval Ts. .

  Next, the control unit 530 uses the number-of-photos counting unit P10 to determine the image file data DT1 of the last photo specified by the final photo specifying unit P9 from the image file data DT1 of the first photo specified by the first photo specifying unit P4. The number of photos (11 in this example), which is the number of image file data DT1 up to this point, is counted (step S10).

  Next, the control unit 530 calculates the position and the GPS information acquisition interval of the survey start date / time ta_st (see FIG. 18B) specified by the leading GPS information acquisition date / time specifying means P7 by the final GPS information acquisition date / time specifying means P11. From the GPS information acquisition interval GG and the shutter interval Ts (here 2 seconds) calculated by the means P5, the GPS information acquisition date ta is the final GPS information acquisition date ta when the photographing of the survey target is completed. Survey end date and time ta_ed (see FIG. 18B) is specified (step S11).

  In the present embodiment, even when the radio wave from the GPS satellite 300 cannot be received depending on the reception state of the GPS receiver 30, the GPS receiver 30 determines that it can maintain a certain time accuracy. Outputs a PPS signal (a pulse signal with one cycle being 1 second) in a state in which radio waves from the GPS satellite 300 cannot be received to the control device 40, and the control device 40 uses the imaging signal PS synchronized with the PPS signal to the camera. By being output to 20, shooting by the camera 20 is performed.

  More specifically, the final GPS information acquisition date and time specifying means P11 uses the GPS information acquisition interval calculation means P5 in case the PPS signal in a state in which radio waves from the GPS satellite 300 cannot be received cannot maintain a certain temporal accuracy. Even if one or more discontinuous time intervals (see α2 in FIG. 18B) larger than the shutter interval Ts (here 2 seconds) exist in the calculated GPS information acquisition interval GG, the discontinuous time interval The GPS information acquisition interval GG before or after α2 is the shutter interval Ts (here 2 seconds), and the discontinuous time interval α2 is d times (d is an integer of 2 or more) the shutter interval Ts (for example, the shutter interval). If it is within 5 times Ts = 10 seconds), it is considered that there is no discontinuous time interval α2. Here, when the PPS signal in a state where the radio wave from the GPS satellite 300 cannot be received cannot maintain a certain time accuracy, the photographing by the camera 20 is not performed. Here, when the radio wave from the GPS satellite 300 cannot be received, the photographing by the camera 20 may not be performed regardless of the temporal accuracy of the PPS signal.

  The process for specifying the surveying end date / time ta_ed is performed when the output control means M2 in the control device 40 outputs the photographic signal PS with the temporary shutter interval pattern PT immediately after outputting the photographic signal PS for each shutter interval Ts. Can be omitted.

  Next, the control unit 530 uses the elapsed time calculation unit P12 to specify the survey end date / time ta_ed specified by the final GPS information acquisition date / time specifying unit P11 (in this example, “2012.12.3 11:35:26”, FIG. )) Is subtracted from the survey start date / time ta_st determined by subtracting the survey start date / time ta_st (referred to as “2012.12.3 11:35:02” in this example, FIG. 18 (b)) in the first GPS information acquisition date / time specifying means P7. An elapsed time Tp (24 seconds in this example) until the surveying end date and time ta_ed is calculated (step S12).

  Next, the control unit 530 divides the elapsed time Tp calculated by the elapsed time calculation means P12 by a predetermined period Ta (here 2 seconds) by the photographed number calculation means P13 and adds 1 to the value. The number of shots to be taken (13 in this example) is calculated by surveying (step S13).

  Next, the control unit 530 uses the collating unit P14 to count the number of photos (11 in this example) counted by the photo number counting unit P10 and the number of photos (13 in this example) calculated by the number-of-photographs calculating unit P13. Are matched (step S14).

  In this way, by checking whether or not the number of photographs matches the number of photographed images, it is determined whether or not missing of image file data DT1 of photographs periodically photographed at the shutter interval has occurred on the camera 20 side. It can be recognized by the computer 500.

  Here, if the number of photos does not match the number of photos taken, the image file data DT1 after the first photo cannot be correctly associated with the GPS information DT2.

  Therefore, the control unit 530 causes the missing part detection unit P15 to check the head image file data when the collation unit P14 does not match the number of photographs (11 in this example) and the number of shots (13 in this example). Of the final image file data DT1_ed (see FIG. 18 (a)) from DT1_st (see FIG. 18 (a)), the photographing interval DG calculated by the photographing interval calculation means P2 is the shutter interval Ts (here 2 seconds). A missing part (refer to β in FIG. 18A) which is a mismatched part is detected (step S15).

  Then, the control unit 530 uses the association unit P8 to obtain the GPS information DT2 at the GPS information acquisition date ta for the image file data DT1 after the first photo in step S8 shown in FIG. The detected missing part (see β in FIG. 18A) is skipped and associated (see FIG. 19).

  By doing this, even when the number of photos does not match the number of photos taken, it is possible to correctly associate the image file data DT1 after the first photo with the GPS information acquisition date ta.

  In addition, in this embodiment, by using a small unmanned helicopter, it is much cheaper than when using a manned helicopter, and the surveying work can be easily and easily performed at a necessary place when necessary. There is an advantage that can be.

  By the way, a surveying technique called aviation laser surveying is also known in the past in which surveying is performed using a laser transmission / reception apparatus that irradiates a survey target with laser light from a flying object and receives a reflected wave from the survey target. The photogrammetry using the camera 20 and the aerial laser survey can both measure a three-dimensional ground shape. However, in the photogrammetry using the camera 20, a digital surface model (DSM), that is, the ground surface is used. On the other hand, in the aerial laser surveying, in addition to the numerical surface layer model, a numerical terrain model (DTM: Digital Terrain Model), that is, the ground surface itself can be measured.

  In this aerial laser surveying, the laser beam is irradiated onto the survey target with a very short cycle (for example, a cycle of 1 / 100,000 second). The information necessary for the aerial laser surveying is the horizontal position, the altitude, which is the position in the horizontal direction, and the attitude (the angles in the pitching direction, the rolling direction, and the yawing direction). Of these, the only information that can be acquired by the GPS receiver is the horizontal position and altitude at regular intervals. For example, when performing surveying using horizontal positions and altitudes at regular intervals in the GPS information from the GPS receiver, information on the horizontal positions and altitudes at regular intervals is taken at times other than the period for acquiring GPS information from the GPS receiver. It cannot be acquired, and the surveying accuracy is lowered accordingly. In addition, although the period which acquires GPS information from a GPS receiver is 1 second (frequency 1Hz) in many cases, recently it may be 1/20 second (frequency 20Hz).

  In order to solve this problem, conventionally, information such as horizontal positions and altitudes at regular intervals is acquired using information on triaxial acceleration and triaxial angular acceleration from the IMU. However, an object of the present invention is to suppress the deterioration of surveying accuracy in a state where the weight mounted on the flying object is reduced without mounting the IMU.

  Therefore, as shown in FIG. 20 described later, the surveying system 100 according to the present embodiment is mounted on the flying object 10 and irradiates the surveying object 200 with laser light from the flying object 10 to reflect the reflected wave from the surveying object 200. Is further provided with an accelerometer 60 and an angular accelerometer 70 mounted on the flying object 10.

  FIG. 20 is a schematic block diagram showing a system configuration centering on the control device 40 in the surveying system 100 in which the flying object 10 is further equipped with the laser transmission / reception device 50, the accelerometer 60 and the angular accelerometer 70.

  As shown in FIG. 20, the laser transmission / reception device 50 is a 3D laser scanner 51, and receives a GPS reception cycle (specifically, 1 second) within a predetermined angle range under the instruction of the control device 40. ) The laser beam is scanned with a shorter scanning cycle (for example, 1 / 100,000 second).

  The control device 40 stores the reception information of the survey target 200 received by the laser transmission / reception device 50 in the second external recording medium ME2 in the storage unit 41 every scan cycle (for example, 1 / 100,000 second).

  The accelerometer 60 and the angular accelerometer 70 are cheaper and smaller than the IMU. Specifically, the accelerometer 60 and the angular accelerometer 70 have a built-in GPS receiver, and the calculation and output cycle of acceleration and angular acceleration data are 1/2000 second (2 kHz frequency). An accurate time (time stamp) obtained from a GPS receiver can be added to the data.

  By the way, since the accelerometer 60 and the angular accelerometer 70 are inexpensive and small-sized ones, the accuracy tends to be lowered.

  In this regard, in the present embodiment, the absolute values of the horizontal position and the altitude at regular intervals are obtained by post-processing using raw data from the GPS receiver (computer software processing) shown in FIG. A highly accurate value (data amount is a frequency of 1 Hz to 20 Hz) obtained by performing post-processing. The computer 500 integrates / distributes the acceleration from the accelerometer 60 and the angular velocity from the angular accelerometer 70 based on the horizontal position and altitude thus obtained, thereby scanning the laser transmission / reception device 50 (for example, 100,000 minutes). 1 second) of horizontal position and altitude.

  On the other hand, the absolute values of the postures (the pitching direction, the rolling direction, and the yawing direction angle) are the pitching direction, the rolling direction, and the yawing obtained by performing bundle calculation processing in the computer 500 (processing by application software). The value of the direction angle (the data amount is a frequency of 1 Hz to 20 Hz as in the horizontal position and the altitude). Based on the postures (the pitching direction, the rolling direction, and the yawing direction) obtained in this manner, the computer 500 calculates the two values obtained by the bundle calculation, the acceleration from the accelerometer 60, and the angular accelerometer 70. The angle (pitching direction, rolling direction, yawing direction) of the laser transmission / reception device 50 corresponding to the scan cycle (for example, 1 / 100,000 second) is calculated based on the calculated value obtained by collating and proportionally integrating the angular velocity integral data. ) Is generated.

  Then, the computer 500 uses the scanner data such as the time, the latitude, the longitude, the altitude, the yawing direction, the rolling direction, and the angle in the pitching direction every scan cycle (for example, 1 / 100,000 second) as the supplement information of the GPS information DT2. The data is stored in the storage unit 540 every scan cycle (for example, 1 / 100,000 second).

  In the present embodiment, the processing is performed in the computer 500 shown in FIG. 11, but the values of the acceleration from the accelerometer 60 and the angular velocity from the angular accelerometer 70 are accurately time-synchronized with the GPS reception period and the scanning period. When the obtaining means can be used, the accelerometer 60 and the angular accelerometer 70 are electrically synchronized with the control device 40 shown in FIG. 20, and the scan period (for example, 1 / 100,000 second) is changed. 2 You may make it preserve | save in the storage area of GPS information DT2 of external recording medium ME2.

  In addition, conventionally well-known things can be used as the laser transmission / reception device 50, the accelerometer 60, and the angular accelerometer 70, and these detailed description is abbreviate | omitted here.

  Thus, by using the laser transmission / reception device 50, it is possible to realize highly accurate surveying of the ground surface in addition to the ground surface.

  In addition, the triaxial acceleration from the accelerometer 60 is used instead of the triaxial acceleration from the IMU, and the triaxial angular velocity from the angular accelerometer 70 is used instead of the triaxial angular acceleration from the IMU. By using it, it is possible to obtain information on latitude, longitude and altitude at times other than the predetermined cycle Ta (here 2 seconds), and thereby the surveying accuracy at times other than the predetermined cycle Ta (here 2 seconds). Can be secured.

  In this embodiment, GPS is used as the GNSS (global positioning system), but GNSS (global positioning system) such as GLONASS, Galileo, Compass, QZSS, etc. can also be used.

  Further, as a surveying method using GNSS, a real time kinematic (RTK) surveying method can be used.

  The present invention is not limited to the embodiment described above, and can be implemented in various other forms. Therefore, such an embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is shown by the scope of claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Flying body 20 Camera 30 GPS receiver 40 Control apparatus 41 Memory | storage part 50 Laser transmission receiver 60 Accelerometer 70 Angular accelerometer 100 Survey system 200 Survey object 300 GPS satellite 400 Timer apparatus 410 GPS receiver 420 Display part 500 Computer DG Photographing Interval DT1 Image file data DT2 GPS information GG GPS information acquisition interval M Recording medium M1 Correction control means M2 Output control means P Program P1 Rearrangement means P2 Shooting interval calculation means P3 Photo side interval pattern detection means P4 First picture specifying means P5 GPS information Acquisition interval calculation means P6 GPS side interval pattern detection means P7 First GPS information acquisition date and time specifying means P8 Association means P9 Final photo specifying means P10 Photo number counting means P11 Final GPS information acquisition date and time specifying means P12 Elapsed time Output means P13 Number of photographed images calculating means P14 Collating means P15 Missing point detecting means PS Shooting signal PT Temporary shutter interval pattern T (1) First temporary shutter interval T (2) Second temporary shutter interval Ta Predetermined period Td Shutter delay time Tp Elapsed time Ts Shutter interval ta GPS information acquisition date and time ta_st Survey start date and time ta_ed Survey end date and time tb Correction timing

Claims (15)

A control equipment for controlling relative GNSS receiver for receiving radio waves from a camera and GNSS satellites to photograph the surveying object from aircraft,
A storage unit to set the information about the shutter shutter delay time indicating a delay in between to actually the shutter from the captured signal to release the shutter before Symbol camera is emitted is cut in advance,
Correction control means for obtaining a correction timing that is a timing retroactive by the shutter delay time based on information on the shutter delay time in the storage unit;
Output control means for outputting a photographing signal for releasing the shutter of the camera at the correction timing acquired by the correction control means ,
The output control means outputs the shooting signal for each shutter interval, which is a time interval of a predetermined cycle that is different from the shutter interval immediately before outputting the shooting signal for each shutter interval, and control device according to claim also be output from the imaging signal in the temporary shutter interval pattern obtained by combining a plurality of temporary shutter interval is different time intervals. The control device according to claim 1 ,
The output control means, while outputting the imaging signal for each shutter interval is a time interval of a predetermined period determined Me pre, immediately after outputting the imaging signal for each of the shutter interval, different from the shutter interval And a control device that outputs the photographing signal in a temporary shutter interval pattern in which a plurality of temporary shutter intervals, which are different time intervals, are combined. A control device for controlling a camera for photographing a survey object from a flying object and a GNSS receiver for receiving radio waves from a GNSS satellite,
A storage unit for setting in advance information relating to a shutter delay time indicating a delay of a shutter from when a shooting signal for releasing the shutter of the camera is issued until the shutter is actually released;
Correction control means for obtaining a correction timing that is a timing retroactive by the shutter delay time based on information on the shutter delay time in the storage unit;
Output control means for outputting a photographing signal for releasing the shutter of the camera at the correction timing acquired by the correction control means;
With
The output control means outputs the shooting signal for each shutter interval, which is a time interval of a predetermined cycle, while immediately after outputting the shooting signal for each shutter interval, unlike the shutter interval, In addition, the control device outputs the photographing signal in a temporary shutter interval pattern in which a plurality of temporary shutter intervals that are different time intervals are combined. The control device according to any one of claims 1 to 3 , wherein
The correction control means sets the correction timing based on information on the shutter delay time in the storage unit with respect to a GNSS information acquisition date and time that is a date and time of the GNSS information when the GNSS information is acquired by the GNSS receiver. A control device characterized by acquiring. The control device according to any one of claims 1 to 4 , wherein:
The plurality of temporary shutter intervals include a first temporary shutter interval that is a predetermined predetermined time interval and a second temporary shutter interval that is a predetermined predetermined time interval different from the first temporary shutter interval. ,
The output control means first outputs the photographing signal as the temporary shutter interval pattern for the first temporary shutter number that is a predetermined number of times predetermined in the first temporary shutter interval, and then the second The shooting signal is output for the second temporary shutter number, which is a predetermined number of times predetermined in two temporary shutter intervals, and then the shooting signal is output for the first temporary shutter number for the first temporary shutter interval. A control device . A surveying system comprising the control device according to any one of claims 1 to 5 ,
The correction control means sets the correction timing based on information on the shutter delay time in the storage unit with respect to a GNSS information acquisition date and time that is a date and time of the GNSS information when the GNSS information is acquired by the GNSS receiver. Acquired,
The camera has a clock function, and is configured to record the image file data of the photographed photograph in association with the photographing date and time that is the date and time when the photograph was photographed.
A rearrangement step of rearranging the image file data of the photograph in the order of the photographing date and time based on the information of the photographing date and time when the photograph was taken by the camera;
A shooting interval calculating step of calculating a shooting interval which is a time interval between adjacent image file data in the image file data of the photos rearranged in the order of the shooting date and time in the rearranging step;
A photo-side interval pattern detection step for detecting where the temporary shutter interval pattern is in image file data of a photo taken by the camera based on the imaging interval calculated in the imaging interval calculating step;
Of the image file data of the photograph taken by the camera based on the position of the temporary shutter interval pattern detected in the photograph side interval pattern detection step, the first image file data when the shooting of the survey target is started The first photo identification step to identify
A GNSS information acquisition interval calculating step for calculating a GNSS information acquisition interval that is a time interval between adjacent GNSS information acquisition dates and times in the GNSS information acquisition date and time acquired by the GNSS receiver;
GNSS-side interval pattern for detecting where the temporary shutter interval pattern is located among the GNSS information acquisition date and time acquired by the GNSS receiver based on the GNSS information acquisition interval calculated in the GNSS information acquisition interval calculating step. A detection step;
Acquisition of the first GNSS information at the start of imaging of the survey target among the GNSS information acquisition date and time acquired by the GNSS receiver based on the position of the temporary shutter interval pattern detected in the GNSS side interval pattern detection step First GNSS information acquisition date and time specifying step for specifying the survey start date and time, which is the date and time,
Image file data after the first photo based on the image file data of the first photo specified in the first photo specifying step in the image file data of the photos rearranged in order of the shooting date and time in the rearrangement step Each step including the step of associating the GNSS information at the GNSS information acquisition date and time for each predetermined period in order from the survey start date and time specified in the first GNSS information acquisition date and time specifying step. surveying system characterized in that it has e Bei a computer-readable recording medium recording a program for executing. The surveying system according to claim 6 ,
The steps are as follows:
Based on the position of the first image file data specified in the first photo specifying step, the shooting interval calculated in the shooting interval calculating step, and the shutter interval, the last time when the shooting of the survey target is completed A final photo identification step for identifying image file data;
A photo that counts the number of photos that is the number of image file data from the image file data of the first photo specified in the first photo specification step to the image file data of the last photo specified in the last photo specification step A number counting step;
End of the surveying object imaging based on the position of the surveying start date and time specified in the first GNSS information acquisition date and time specifying step, the GNSS information acquisition interval and the shutter interval calculated in the GNSS information acquisition interval calculation step A final GNSS information acquisition date and time specifying step for specifying a surveying end date and time that is the final GNSS information acquisition date and time when
Elapsed time from the surveying start date to the surveying end date based on the surveying start date and time specified in the first GNSS information acquisition date and time specifying step and the surveying end date and time specified in the final GNSS information acquisition date and time specifying step An elapsed time calculating step for calculating
A shooting number calculating step for calculating the number of shots based on the elapsed time calculated in the elapsed time calculating step and the predetermined period;
A surveying system, further comprising: a collating step for collating whether or not the number of photographs counted in the number-of-photographs counting step matches the number of photographed photographs calculated in the photographing number calculating step. The surveying system according to claim 7 ,
The steps are as follows:
In the case where the number of photographs does not match the number of shots taken in the collating step, a missing spot detecting step for detecting a missing spot where the shooting interval calculated in the shooting interval calculating step does not match the shutter interval. Further including
The associating step associates the image file data after the first photo with the GNSS information at the GNSS information acquisition date by skipping the missing part detected in the missing part detecting step. Surveying system. A surveying system according to any one of claims 6 to 8 , wherein
The camera is configured to store image file data of a photographed photograph in a format of a standardized image file data format that can embed predetermined predetermined information including photographing date / time, latitude, longitude, and altitude. And
The association step replaces the shooting date / time, latitude, longitude, and altitude in the predetermined information of the image file data format with the shooting date / time, latitude, longitude, and elevation in the GNSS information, respectively. Surveying system. A surveying system according to any one of claims 6 to 9 ,
Before SL flying body, wireless remote piloted small unmanned helicopter der is, surveying system characterized that you mounted between the camera and the GNSS receiver and the controller. A surveying system according to any one of claims 6 to 10 , wherein
A surveying system, further comprising a laser transmission / reception device mounted on the flying object and receiving a reflected wave from the surveying object by irradiating the surveying object with laser light from the flying object. A surveying system according to claim 1 1,
A surveying instrument further comprising: an accelerometer mounted on the flying object for measuring acceleration of the flying object; and an angular accelerometer mounted on the flying object for measuring angular acceleration of the flying object. system. A program for causing a computer to execute each step in the surveying system according to any one of claims 6 to 12 . The computer-readable recording medium which recorded the program for making a computer perform each said step in the surveying system of any one of Claim 6 to 12 . In a survey system equipped with a control device for controlling a camera for photographing a survey object from a flying object and a GNSS receiver for receiving radio waves from a GNSS satellite, it is actually performed after a photographing signal for releasing the shutter of the camera is issued. A measuring method for measuring a shutter delay time indicating a delay of the shutter until the shutter is released,
Using a timer device having a display unit that displays a timer time by a timer function, the shooting signal is output to the camera at a timing synchronized with the timer time by the timer function, and the display unit is photographed by the camera. A measurement method, comprising: measuring the shutter delay time based on the timer time displayed on the display unit in a photograph.

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