JP6493988B2 - Error correction apparatus and error correction program in laser survey using a moving object - Google Patents

Description

  The present invention relates to an error correction apparatus and an error correction program that perform error correction in laser surveying using a moving body such as a drone or a vehicle.

  2. Description of the Related Art Conventionally, photogrammetry is known in which a camera is mounted on a moving body such as a drone or a vehicle to photograph a survey target such as a terrain or a structure, and a three-dimensional survey of the survey target is performed using photographs taken from a plurality of locations. However, such photogrammetry has a problem that the shape of the ground surface cannot be measured correctly if trees, vegetation, or the like exists at the location where the terrain is measured.

  Laser surveying is a three-dimensional survey that replaces photogrammetry. In laser surveying using a moving object, a laser scanner is mounted on the moving object, and the distance to the surveying object is measured at a number of measurement points while scanning the topography and structures to be surveyed with the laser pulses emitted by the laser scanner. To do. Based on the measurement data and the position and orientation of the moving object obtained from the GNSS (Global Navigation Satellite System) measuring instrument and IMU (Inertial Measurement Unit) Survey.

  For example, when performing airborne laser surveying using a flying object, measurement points by laser pulses are densely present on the ground. There are some measurement points where the laser pulse light is reflected by trees and plants and does not accurately reflect the distance to the ground, but there are also many measurement points where the laser pulse light passes through the trees and plants and reaches the ground. . For this reason, in laser surveying, it is possible to remove the influence of trees, vegetation and the like by performing an appropriate filtering process, and to obtain a surveying result having only the shape of the ground surface.

  In laser surveying, an installation error occurs when a laser scanner is mounted on a moving body. Since accurate surveying cannot be performed with this attachment error occurring, error correction is required (Non-Patent Document 1). In addition, alignment is normally performed as an adjustment operation before surveying. However, a minute error remains after this alignment is performed, and thus error correction as fine adjustment for correcting this is also necessary.

Geospatial Information Authority of Japan, “Research on Utilization Technology of Aviation Laser Surveying”, <URL: http: //www.gsi.go.jp/common/000022304.pdf>

  The above error correction includes all three directions of the aircraft, ie, the direction in which the nose swings up and down (pitching), the direction in which the nose swings left and right (heading or yawing), and the direction in which the aircraft swings left and right (rolling). It is necessary to correct the inclination of the. However, if error correction is performed on one of these axes, the other two axes are also affected. Therefore, many trials and errors are required to keep the errors for all three axes within an allowable range.

  The above error correction is actually performed depending on the intuition and know-how of a professional engineer, and it is extremely difficult for a general user to perform such correction. Non-Patent Document 1 describes the necessity of performing error correction, but does not describe a specific procedure for the correction. Further, even when a professional engineer makes corrections, a great amount of time and labor are required for the work.

  The present invention has been made in view of the above problems, and an object thereof is to provide an error correction apparatus that can easily perform error correction in laser surveying using a moving body.

  In order to solve the above-described problem, the present invention provides an error correction apparatus for performing error correction in laser surveying using a moving body equipped with a laser scanner, wherein the moving body is located within a survey target region, A storage unit that stores the measurement data when moving the first route and the measurement data when moving the second route obtained by moving the first route and the second route having a different movement direction from the second route. And an input unit for inputting a correction value in error correction, the measurement data stored in the storage unit, and the correction value input by the input unit. A calculation unit for calculating a cross-sectional model and a cross-sectional model in the measurement region at the time of moving the second path, a cross-sectional model at the time of moving the first path and a cross-sectional model at the time of moving the second path calculated by the calculation unit Display section to display And the cross-sectional model at the time of moving the first path and the cross-sectional model at the time of moving the second path are cross-sectional models corresponding to the same cross-sectional position in the measurement region, Each time the correction value input by the input unit is changed, the cross-sectional model at the time of moving the first route and the cross-sectional model at the time of moving the second route are recalculated and the first displayed on the display unit. The cross-sectional model at the time of moving the route and the cross-sectional model at the time of moving the second route are updated.

  According to the above configuration, each time the user changes the correction value, the cross-sectional model at the time of moving the first route and the cross-sectional model at the time of moving the second route are recalculated, and the cross-sectional model displayed on the display unit is updated. Is done. For this reason, the user can input and change the correction value so that the cross-sectional model at the time of the first path movement and the cross-sectional model at the time of the second path movement displayed on the display unit coincide with each other. Correction work becomes possible. Accordingly, it is possible to easily converge all three axes of pitching φ, rolling ω, and heading κ in a direction that eliminates an error without requiring a skill that is experienced by the user.

  In order to solve the above-described problem, the present invention provides an error correction apparatus that performs error correction in laser surveying using a moving body equipped with a laser scanner, and the moving body is placed in a survey target area. The first route and the second route are moved along a second route having a different moving direction, and measurement data obtained when the first route is moved and measurement data obtained when the second route is moved are stored. Based on the measurement data stored in the storage unit and the storage unit, a calculation unit that calculates a cross-sectional model in the measurement region during the first path movement and a cross-sectional model in the measurement region during the second path movement; A display unit that displays the cross-sectional model at the time of the first path movement and the cross-sectional model at the time of the second path movement calculated by the calculation unit; and the cross-sectional model at the time of the first path movement displayed on the display unit; Second route movement In the cross-sectional model, an input unit for setting and inputting a plurality of set points corresponding to each other, and the cross-sectional model at the time of the first path movement and the cross-sectional model at the time of the second path movement are: A cross-sectional model corresponding to the same cross-sectional position in the measurement region, wherein the calculation unit displays the cross-sectional model at the time of the first path movement and the cross-section at the time of the second path movement displayed first before the start of error correction When the set point is input to the model, the cross-sectional model at the time of the first path movement and the second model while sequentially changing correction values within a predetermined correction range within a predetermined correction range with respect to the measurement data. Calculate the cross-sectional model at the time of path movement, calculate the distance between the set points for all calculated cross-sectional models, evaluate the degree of deviation, and finally the cross-section evaluated as the smallest deviation Set in the model It is characterized in that outputs a correction value which has been as a correction determined value.

  According to the above configuration, the correction value is determined by automatic calculation of the calculation unit only by the user first selecting a set point.

  Another error correction apparatus according to the present invention is an error correction apparatus that performs error correction in laser surveying using a moving body on which a laser scanner is mounted, in order to solve the above-described problem. Is moved in the survey target area, the storage unit stores the measurement data obtained by the movement, the input unit for inputting a correction value in error correction, the measurement data stored in the storage unit and the input A calculation unit that calculates a cross-sectional model in the survey target area based on the correction value input by the unit, a display unit that displays the cross-sectional model calculated by the calculation unit, and a plurality of measurement points The arithmetic unit recalculates the cross-sectional model and updates the cross-sectional model displayed on the display unit every time the correction value input by the input unit is changed. It is characterized in.

  According to said structure, whenever a user changes a correction value, the cross-sectional model of a survey object area | region is recalculated, and the cross-sectional model displayed on a display part is updated. For this reason, the user can perform an intuitive error correction work by inputting and changing the correction value so that the cross-sectional model displayed on the display unit coincides with the measured points displayed at the same time. Accordingly, it is possible to easily converge all three axes of pitching φ, rolling ω, and heading κ in a direction that eliminates an error without requiring a skill that is experienced by the user. At this time, the height offset can be adjusted simultaneously.

  Another error correction apparatus according to the present invention is an error correction apparatus that performs error correction in laser surveying using a moving body on which a laser scanner is mounted, in order to solve the above-described problem. A storage unit for storing measurement data obtained by the movement, and a calculation unit for calculating a cross-sectional model in the measurement target region based on the measurement data stored in the storage unit A display unit that displays the cross-sectional model calculated by the calculation unit and a plurality of measured points, and a plurality of set points corresponding to the measured points in the cross-sectional model displayed on the display unit And an input unit for setting and inputting, when the set point is input to the cross-sectional model displayed first before the start of error correction, Then, the cross-sectional model is calculated while sequentially changing the correction value within a predetermined correction range within a predetermined correction range, and between the set point in the calculated cross-sectional model and the measured point corresponding to each set point The distance is calculated to evaluate the degree of deviation, and the correction value set in the cross-sectional model that is finally evaluated to have the smallest deviation is output as the correction determination value.

  According to the above configuration, the correction value is determined by automatic calculation of the calculation unit only by the user first selecting a set point. At this time, the height offset can be adjusted simultaneously.

  In the error correction apparatus, the calculation unit extracts a part of the measurement data from the measurement data of the original file obtained by the movement of the moving body as an intermediate file, and uses the measurement data of the intermediate file and the input unit. The cross-sectional model can be calculated based on the input correction value.

  According to the above configuration, the cross-sectional model displayed on the display unit is created not from the original file but from an intermediate file obtained by extracting a part of the measurement data, and the computation of the model creation in the computation unit is performed at high speed. be able to. As a result, the cross-sectional model can be displayed in real time in response to the input / change of the correction value by the user. As a result, the time required for error correction can be significantly reduced.

  An error correction program according to the present invention is an error correction program for causing a computer to perform error correction in laser surveying using a moving body equipped with a laser scanner, and the computer surveys the moving body. Within the target area, the first route and the second route are moved along a second route having a different moving direction, and the measurement data obtained when the first route is moved and the measurement data obtained when the second route is moved are obtained by this movement. And an input unit for inputting a correction value in error correction, the measurement data stored in the storage unit in the computer, and the correction input by the input unit Based on the value, the cross-sectional model in the measurement area at the time of the first path movement corresponding to the same cross-sectional position in the measurement area and the cross-section model in the measurement area at the time of the second path movement are calculated. A function for displaying the calculated cross-sectional model at the time of moving the first route and the cross-sectional model at the time of moving the second route on the display unit, and whenever the correction value input by the input unit is changed The cross-sectional model at the time of the first path movement and the cross-sectional model at the time of the second path movement are recalculated, and the cross-sectional model at the time of the first path movement and the cross-sectional model at the time of the second path movement displayed on the display unit. And a function of updating the cross-sectional model.

  Another error correction program of the present invention is an error correction program for causing a computer to perform error correction in laser surveying using a moving body equipped with a laser scanner, wherein the computer Is moved in the survey target area by the first route and the second route having a different movement direction from the second route, and the measurement data obtained when the first route is moved and the second route are obtained by this movement. Set and input a plurality of set points corresponding to each other in a storage unit for storing measurement data, and a cross-sectional model in the measurement area when moving the first path and a cross-sectional model in the measurement area when moving the second path And a first path corresponding to the same cross-sectional position in the measurement area based on the measurement data stored in the storage unit in the computer. A function of calculating a cross-sectional model at the time of movement and a cross-sectional model at the time of moving the second path; When the set point is input to the cross-sectional model and the second path when the first path is moved while sequentially changing correction values within a predetermined correction range within a predetermined correction range with respect to the measurement data. The function to calculate the cross-sectional model at the time of movement and the distance between the set points were calculated for all the calculated cross-sectional models, and the degree of deviation was evaluated. Finally, the deviation was evaluated to be the smallest. And a function of outputting a correction value set in the cross-sectional model as a correction determination value.

  Another error correction program of the present invention is an error correction program for causing a computer to perform error correction in laser surveying using a moving body equipped with a laser scanner, wherein the computer And a storage unit for storing measurement data obtained by the movement, and an input unit for inputting a correction value in error correction, and the computer includes the storage unit. On the basis of the measurement data stored in and the correction value input by the input unit, a function of calculating a cross-sectional model in the survey target region, the calculated cross-sectional model, and a plurality of measurement points Each time the correction value input by the input unit is changed, the cross-sectional model is recalculated and displayed on the display unit. It is characterized in that to execute a function of updating the sectional model.

  Another error correction program of the present invention is an error correction program for causing a computer to perform error correction in laser surveying using a moving body equipped with a laser scanner, wherein the computer To set and input a plurality of set points corresponding to a plurality of measured points in the cross-sectional model of the survey target area, and a storage unit for storing measurement data obtained by this movement And a function of calculating the cross-sectional model on the computer based on the measurement data stored in the storage unit, and the cross-sectional model displayed first before the start of error correction When the set point is input to the cross-section, the cross-section is sequentially changed with a predetermined correction width within a predetermined correction range with respect to the measurement data. Calculate the distance between the set point in the calculated cross-section model and the measured point corresponding to each set point and evaluate the degree of deviation, and finally evaluate that the deviation is the smallest And a function of outputting a correction value set in the cross-sectional model as a correction determination value.

  The error correction device and the error correction program of the present invention have an effect that an intuitive and simple error correction can be realized without requiring a skilled skill from the user.

It is a figure which shows the outline | summary of the laser survey system using a drone. (A)-(c) is a figure which shows the relationship between the laser beam in a laser surveying system, and the three orthogonal axes measured by IMU. (A)-(c) is a figure which shows the error which arises between a laser scanner and IMU. FIG. (A), (b) is a figure which shows the shift | offset | difference of an actual survey object and survey result when the error has arisen. 1, showing an embodiment of the present invention, is a functional block diagram showing a schematic configuration of an error correction device. FIG. It is a diagram showing the measurement area of the original file consisting of all measurement data surveyed by the drone, and the measurement area of the intermediate file obtained by extracting a part of the measurement data. It is a figure which shows the three-dimensional model at the time of outward flight displayed on a display part, and the three-dimensional model at the time of backward flight, (a) before the start of error correction, (b) is the state after completion of error correction. Show. It is a diagram showing a modification of the measurement area of the original file consisting of all the measurement data measured by the drone and the measurement area of the intermediate file obtained by extracting a part of the measurement data.

[Embodiment 1]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, a laser survey system to which the present invention is applied will be described with reference to FIG. 1 and FIG. In the present embodiment, a case where a drone is used as a moving body on which a laser scanner is mounted and an aerial laser survey using the drone is illustrated. As described above, by using a small flying object capable of radio control, it is possible to easily perform an aerial laser surveying. However, the present invention is not limited to this, and the moving body may be a flying body other than a drone such as an airplane or a helicopter, or may be a moving body such as a vehicle.

  In the aviation laser surveying system according to the present embodiment, as shown in FIG. 1, a laser scanner 11 is mounted on a drone 10 that is a flying object, a laser spot is irradiated from the laser scanner 11 toward the ground, and the reflection time is calculated. Measure to find the distance to the ground. The drone 10 is also equipped with an INS (inertial navigation system) measuring instrument 12. The INS measuring instrument 12 has a GNSS function that measures the position of the drone 10 and an IMU function that measures the attitude of the drone 10. In the configuration example of FIG. 1, the position and posture of the drone 10 are measured by the INS measuring device 12. However, the GNSS measuring device and the IMU are separately provided to measure the position and posture of the drone 10. Also good.

  The distance measurement data obtained by the laser scanner 11 is associated with the position data and attitude data of the drone 11 at the time of measurement, and these are stored as measurement data. The laser scanner 11 can irradiate several tens of thousands to several hundreds of thousands of laser pulses per second. However, the position measurement by the GNSS function of the INS measuring instrument 12 is performed several times per second, and the IMU function of the INS measuring instrument 12 is used. The posture measurement by is about several hundred times per second. For this reason, most of the position data and posture data associated with the distance measurement data of the laser scanner 11 are obtained by interpolation calculation.

  The laser scanner 11 is preferably attached as accurately as possible to the INS measuring instrument 12 that measures the attitude of the drone 10. However, it is almost impossible to attach completely without error, and a certain amount of attachment error occurs. Further, even after correcting the mounting error, alignment as an adjustment work is required every time it is used. For example, the above-described alignment can be performed by self-alignment by flying the drone 10 along a predetermined route (for example, a figure of 8). However, such self-alignment cannot completely correct an error, and is small. Since the error remains, error correction as a fine adjustment is also required at any time.

  For example, as shown in FIGS. 2A to 2C, the inclination of the three orthogonal axes (x axis, y axis, z axis) measured by the INS measuring instrument 12 is such that the drone 10 is at a constant speed, and When a horizontal straight flight is performed in a predetermined direction, the angle is set to 0 °. At this time, the z-axis is parallel to the vertical direction, and the traveling direction of the drone 10 is parallel to the y-axis.

  On the other hand, the laser scanner 11 scans a laser pulse with a constant scan width along a predetermined scanning direction (see FIG. 1). At this time, if it is assumed that the laser scanner 11 is attached to the INS measuring instrument 12 without error, if the light at the center of the scan width is the reference beam, the reference beam is parallel to the z-axis and the scanning is performed. The main scanning line is attached so as to be parallel to the x axis (the sub scanning direction coincides with the traveling direction).

  However, in practice, there is an attachment error between the laser scanner 11 and the INS measuring instrument 12, and the error can be expressed as, for example, rotation angles around the x axis, the y axis, and the z axis. Here, as shown in FIG. 3, each error (rotation angle) around the x-axis, y-axis, and z-axis is φ (pitching), ω (rolling), and κ (heading).

  When surveying is performed without correcting such an error, a deviation that occurs between the actual survey target and the survey result will be described with reference to FIG. FIG. 4 illustrates a case where the drone 10 performs surveying so as to cross an object such as a bank. When there is a shift in the φ (pitching) direction, the main shift that occurs in the survey result (shown by a broken line in FIG. 4A) is the actual survey target (shown by a solid line in FIG. 4A). On the other hand, it is shifted in the y-axis direction. When there is a shift in the ω (rolling) direction, the main shift that occurs in the survey result (indicated by the broken line in FIG. 4B) is the actual survey target (indicated by the solid line in FIG. 4B). On the other hand, it is shifted so as to rotate in the xz plane. When a shift in the κ (heading) direction occurs, the main shift that occurs in the survey result (indicated by a one-dot chain line in FIG. 4C) is an actual survey target (in FIG. 4C, a solid line). To be rotated in the xy plane. The actual survey result appears in a form in which three kinds of deviations shown in FIGS. 4A to 4C are combined.

  As described above, there is an attachment error between the laser scanner 11 and the INS measuring instrument 12, and if surveying is performed without correcting the deviation due to the attachment error, an accurate survey result cannot be obtained. For this reason, an error correction for correcting a shift due to an attachment error is required. In addition to the above correction of the mounting error, error correction as fine adjustment for correcting a minute error that cannot be corrected by the alignment during use is also required. The present invention relates to an error correction apparatus and an error correction method for performing such error correction. In addition, the actual error correction is performed by the manufacturer to correct the installation error before shipping the product of the drone 10 and the correction value is entered as a basic value. It is preferable that fine adjustment for correction is performed. The error correction apparatus and error correction method of the present invention can be used for any of these error corrections.

  FIG. 5 is a functional block diagram showing a schematic configuration of the error correction apparatus 20 according to the present embodiment. The error correction device 20 includes a storage unit 21, a calculation unit 22, an input unit 23, and a display unit 24.

  The storage unit 21 is a memory for storing measurement data (ranging data, position data, posture data) by the drone 10, and has a storage area for each of the original file and the intermediate file. The calculation unit 22 includes, for example, a CPU (Central Processing Unit), and creates a three-dimensional model of the survey target region based on the measurement data stored in the storage unit 21 and the correction value input from the input unit 23. . The input unit 23 is a means for the user to input a correction value for error correction. The display unit 24 is a means for displaying a three-dimensional model of the survey target area created by the calculation unit 22.

  When error correction using the error correction device 20 is performed, the survey target area is first measured by the drone 10. This measurement is performed in a state where the error of the laser scanner 11 is not corrected, and is performed by reciprocating the same flight path on the survey target area. Then, the measurement data obtained by the round-trip flight is stored as an original file in the storage unit 21, and the error correction work by the error correction device 20 can be performed in this state. In the measurement data that is the original file, the measurement data at the time of the outbound flight and the measurement data at the time of the return flight can be distinguished.

  The calculation unit 22 extracts a part of measurement data from the original file and creates the first intermediate file. As shown in FIG. 6, the measurement area in the intermediate file is obtained corresponding to a partial area in the sub-scanning direction. In the intermediate file, the measurement data at the time of forward flight can be distinguished from the measurement data at the time of backward flight. The intermediate file at the time of forward flight and the intermediate file at the time of backward flight correspond to the same area. Is extracted as follows.

  The measurement area to be extracted as an intermediate file is, for example, that the user performs time specification from hour, minute, second to hour, hour, minute, and second for the measurement data at the time of outbound flight, and the measurement data corresponding to the specified measurement time is displayed. Can be extracted as an intermediate file. Also, the intermediate file can be extracted from the measurement data at the time of return flight by the same method.

  The extracted intermediate files for the outbound flight and the inbound flight correspond to the same topography (measurement region) only in the flight direction at the time of measurement. For this reason, when the user designates the time, for example, the survey result (measurement area at the time of forward flight or return flight) is displayed as a map using Google Earth (registered trademark) or the like, and from the map display as an intermediate file. Time extraction of the measurement start position and the measurement end position of the terrain (measurement region) to be extracted may be performed.

  Next, the calculation unit 22 creates a cross-sectional model that is a part of the measurement region during the outbound flight and a cross-sectional model that is a part of the measurement region during the return flight from the created intermediate file, and displays these on the display unit 24. These cross-sectional models are cross-sectional models corresponding to the same location in the measurement region. FIG. 7A is a diagram showing a state where the cross-sectional model 31 at the time of forward flight and the cross-sectional model 32 at the time of backward flight before the error correction is performed are displayed on the display unit 24. Since the cross-sectional model 31 at the time of outward flight and the cross-sectional model 32 at the time of backward flight correspond to the same location in the measurement region, there are mounting errors between the laser scanner 11 and the INS measuring instrument 12 and other If there is no minute error, they are completely matched. However, in reality, due to the existence of the above error, the cross-sectional model 31 at the time of forward flight and the cross-sectional model 32 at the time of backward flight do not coincide with each other, and are displayed in a mutually shifted state. For example, if it is assumed that the survey results shown in FIGS. 4A to 4C are the survey results during the outbound flight, the survey results during the return flight are in the opposite direction from those during the outbound flight (the displacement is almost the same). The same).

  The cross-sectional position of the cross-sectional models 31 and 32 can be arbitrarily designated by the user. For example, if the user specifies a cross-sectional position in a bird's-eye view of a survey result displayed on a map using Google Earth (registered trademark) or the like, the cross-sectional models 31 and 32 at the cross-sectional position are displayed on the display unit 24.

  The specific calculation at the time of creating the cross-sectional model in the present embodiment can be performed by the following procedure, for example. First, a three-dimensional model of this measurement area is calculated using measurement data of the entire measurement area extracted as an intermediate file. Then, a cross-sectional model corresponding to the designated cross-sectional position is created from the three-dimensional model of the entire measurement region.

  In addition, the display unit 24 displays a correction value display window 33 and a correction value increase / decrease key 34. The correction value display window 33 is a window for displaying correction values input by the user for each of the three axes of pitching φ, rolling ω, and heading κ. The correction value displayed first is 0. Yes. The correction value increase / decrease key 34 is a key for increasing / decreasing the correction value displayed in the correction value display window 33. When the user inputs a correction value, the correction value may be directly input to the correction value display window 33 using, for example, a numeric keypad, or the correction value increase / decrease key 34 is clicked with a cursor or the like, and the correction value is entered. You may change by increasing / decreasing by fixed amount (for example, 0.001 degree).

  When the user inputs (or changes) a correction value in any one of pitching φ, rolling ω, and heading κ, the calculation unit 22 performs recalculation for both the forward flight and the backward flight according to the input result, The cross-sectional models 31 and 32 created by this recalculation are displayed on the display unit 24. The user inputs (or changes) correction values so as to match the cross-sectional models 31 and 32 while checking the cross-sectional models 31 and 32 displayed on the display unit 24. FIG. 7B is a diagram illustrating the display unit 24 in a state in which the cross-sectional model 31 at the time of the forward flight and the cross-sectional model 32 at the time of the return flight coincide with each other by the user's error correction work (input of correction values). Further, the correction value displayed in the correction value display window 33 at this time is obtained as the final error correction value.

  The calculation at the time of recalculation of the cross-sectional model is performed in the same procedure as that at the time of the first calculation described above. In other words, the input correction value is reflected in the measurement data of the entire measurement area extracted as an intermediate file, and the 3D model of this measurement area is recalculated using the measurement data reflecting the correction value. The Then, a cross-sectional model corresponding to the designated cross-sectional position is created from the recalculated three-dimensional model of the entire measurement region.

  As described above, when the error correction is performed so that the cross-sectional models 31 and 32 coincide with each other, the error existing in the in-plane direction of the cross-section is corrected, but the error existing in the direction orthogonal to the cross-section. May not be corrected and there may be errors. For this reason, in actual error correction, it is preferable to perform the error correction on at least two cross sections (preferably two cross sections orthogonal to each other). If there is no error in the two cross sections in this way, it can be considered that there is no error in the entire measurement region. Of course, the error correction may be performed on three or more cross sections.

  As described above, the method of inputting (or changing) the correction value so that the cross-sectional models 31 and 32 match each other is based on relative shifts in the φ (pitching), ω (rolling), and κ (heading) directions. Will be corrected. For this reason, with respect to the offset in the height direction, after performing the above error correction, it is preferable to confirm that the matched cross-section models 31 and 32 are at least one actual measurement point. The actual measurement point here is a three-dimensional coordinate point actually measured at the site where surveying is performed, and is an absolute coordinate point. For this reason, the absolute error correction can be performed by further matching the cross-sectional model after the relative error correction to the absolute coordinate point.

  In the error correction apparatus 20 according to the present embodiment, the user inputs and changes correction values so that the cross-sectional models 31 and 32 displayed on the display unit 24 coincide with each other, and intuitive error correction work is performed. Is possible. Accordingly, it is possible to easily converge all three axes of pitching φ, rolling ω, and heading κ in a direction that eliminates errors without requiring skilled skills.

  Further, since the cross-sectional models 31 and 32 are created from an intermediate file obtained by extracting a part of measurement data from the original file, the model creation calculation can be performed at high speed, and a correction value can be input by the user. The cross-sectional models 31 and 32 can be displayed in real time in response to the change. As a result, the time required for error correction can be significantly reduced.

  Moreover, in the error correction apparatus 20 according to the present embodiment, it is possible to greatly reduce the time and labor involved in error correction work. For this reason, even if the change width at the time of error correction is made smaller than the conventional one, it is possible to cope. For example, in the prior art, correction of deviation with a width of 0.1 ° can be performed with a width of 0.001 ° in the present invention, which contributes to improvement of correction accuracy.

  In the above description, the case where the drone 10 is reciprocated and the error correction is performed based on the measurement data at the time of forward flight and the measurement data at the time of return flight is illustrated, but the present invention is not limited to this. Absent. That is, the two measurement data used for error correction are not limited to the measurement data obtained by the round-trip flight as long as the measurement directions (flight directions of the drone 10) are different with respect to the same place. For example, as shown in FIG. 8, the drone 10 is caused to fly on a first route and a second route orthogonal to the first route, and measurement data at the time of first route flight and measurement data at the time of second route flight It is also possible to perform error correction based on the above. In this case, a superimposition point between the measurement region at the time of the first route flight and the measurement region at the time of the second route flight may be set as the measurement region in the intermediate file.

  In the above description, two measurement data having different flight paths at the time of measurement are used, and correction values are input (or changed) so that the two cross-sectional models 31 and 32 created from these measurement data are matched. The method was illustrated. However, the present invention is not limited to this. For example, three-dimensional coordinate points (actual measurement points) actually measured at the site where surveying is performed can be read into the calculation unit 22 and error correction can be performed using the actual measurement points.

  In this case, the survey by the drone 10 at the time of error correction need only correspond to one flight path, and one cross-sectional model created by the computing unit 22 is also used (for example, the cross-sectional model 31 in the above description). On the other hand, apart from the survey by the drone 10, actual measurement is performed at a plurality of locations, and the obtained three-dimensional coordinates of the plurality of actual measurement points are read into the calculation unit 22. For example, when the user inputs the three-dimensional coordinates of the actual measurement point via the input unit 23, the three-dimensional coordinates are stored in the storage unit 21, and the calculation unit 22 reads the three-dimensional coordinates of the actual measurement point from the storage unit 21. it can.

  And the calculating part 22 displays on the display part 24 one cross-section model 31 created from the survey result by the drone 10, and the some measured point to which the three-dimensional coordinate was input. At this time, if there is no error in the cross-sectional model 31, these are completely coincident. However, in reality, due to the presence of an error, the cross-sectional model 31 does not coincide with the actual measurement point but is displayed in a shifted state.

  When the user inputs (or changes) a correction value in any one of pitching φ, rolling ω, and heading κ, the calculation unit 22 recalculates the cross-sectional model 31 according to the input result, and is created by this recalculation. The cross section model 31 is displayed on the display unit 24. The user inputs (or changes) correction values so as to make the cross-sectional model 31 coincide with a plurality of the actual measurement points while confirming the cross-section model 31 displayed on the display unit 24 and the actual measurement points. In this way, the correction value displayed in the correction value display window 33 when the cross-sectional model 31 matches the actual measurement point is obtained as the final error correction value.

  Thus, in the method of adjusting the cross-sectional model obtained from the aerial laser survey by the drone 10 to the actual measurement point, since the three-dimensional coordinates of the actual measurement point are absolute coordinates, φ (pitching), ω ( Rolling) and κ (heading) direction can be corrected and height offset can be adjusted simultaneously in real time.

  In addition, in the entire survey range when performing aerial laser surveying, the entire survey range is often covered by arranging the measurement ranges obtained by one flight in one direction. At this time, in particular, the height direction is often adjusted to the local height of the site, and when measuring adjacent measurement ranges, the height of the adjacent measurement range can be easily displayed by displaying the measured points. Can be adapted to

  In the error correction in the above description, the user himself / herself inputs / changes the correction value so that the three-dimensional models 31 and 32 of the forward flight and the backward flight displayed on the display unit 24 are matched. . However, the present invention is not limited to this, and it is also conceivable to obtain the correction value by automatic calculation of the calculation unit 22.

  For example, in the first cross-sectional models 31 and 32 before the start of error correction, the user sets and inputs a plurality of points corresponding to each other from the input unit 23. For this set point, for example, a location where the correspondence can be clearly recognized, such as an edge portion of a building, may be selected. When a plurality of set points are determined, the calculation unit 22 calculates the distance (shift amount) between the corresponding set points in the cross-sectional models 31 and 32, and evaluates the shift degree by the least square method or the like.

  Further, the calculation unit 22 sequentially changes correction values within a predetermined correction range within a predetermined correction range for all of the pitching φ, rolling ω, and heading κ, and performs the same method for all the combinations. Evaluate the degree of displacement. Then, a combination of correction values that are finally evaluated to have the smallest deviation is output as a final correction value (correction determination value), and error correction is completed.

  In this method, the user only needs to first select a set point, and does not need to input / change the correction value, so that the error correction can be performed more easily. Of course, such error correction by automatic calculation can also be applied to the case where error correction is performed by combining one cross-sectional model and a plurality of actually measured points to which three-dimensional coordinates are input. In this case, a location corresponding to the actual measurement point may be set as a set point in the cross-sectional model.

  In the error correction apparatus 20 described above, each process in the calculation unit 22 is realized by a program executed by a computer. The subject matter of the present invention includes the program itself or a program stored in a computer-readable recording medium.

  In the present invention, as the recording medium, a memory necessary for processing by the arithmetic unit 22 shown in FIG. 5, for example, a ROM itself may be a program medium. A program reading device may be provided as an external storage device (not shown), and the program medium may be read by inserting a recording medium therein. In any case, the stored program may be configured to be accessed and executed by the microcomputer, or in any case, the program is read out, and the read program is stored in the program storage area of the microcomputer. The program may be loaded and executed by the program. It is assumed that this loading program is stored in the main device in advance.

  Here, the program medium is a recording medium configured to be separable from the main body, such as a tape system such as a magnetic tape or a cassette tape, a magnetic disk such as an FD (flexible disk) or HD (hard disk), or a CD-ROM / Fixed program including semiconductor memory such as optical disk system such as MO / MD / DVD / BD, card system such as IC card (including memory card) / optical card, or mask ROM, EPROM, EEPROM, flash ROM, etc. It may be a supported medium.

  Further, in the present invention, since the system configuration is connectable to a communication network including the Internet, the medium may be a medium that dynamically carries the program so as to download the program from the communication network. When the program is downloaded from the communication network in this way, the download program may be stored in the apparatus main body in advance or may be installed from another recording medium.

  The embodiments disclosed herein are illustrative in all respects and do not serve as a basis for limited interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiments, but is defined based on the description of the scope of claims. Moreover, all the changes within the meaning and range equivalent to a claim are included.

10 drone (mobile)
11 Laser scanner 12 GNSS surveying instrument 13 IMU
20 Error correction device 21 Storage unit 22 Calculation unit 23 Input unit 24 Display unit 31 Cross-sectional model during outbound flight 32 Cross-sectional model during backward flight 33 Correction value display window 34 Correction value increase / decrease key

Claims (5)

An error correction apparatus that performs error correction in laser surveying using a moving body equipped with a laser scanner,
The movable body is moved in the survey target region by a first route and a second route having a different movement direction from the second route, and the measurement data and the second route obtained by the movement are obtained when the first route is moved. A storage unit for storing measurement data during movement;
An input unit for inputting a correction value in error correction;
Based on the measurement data stored in the storage unit and the correction value input by the input unit, a cross-sectional model in the measurement area during the first path movement and a cross-sectional model in the measurement area during the second path movement; A computing unit for computing
A display unit that superimposes and displays the cross-sectional model at the time of the first path movement calculated by the calculation unit and the cross-sectional model at the time of the second path movement;
The cross-sectional model at the time of moving the first path and the cross-sectional model at the time of moving the second path are cross-sectional models corresponding to the same cross-sectional position in the measurement region,
The calculation unit recalculates the cross-sectional model at the time of moving the first route and the cross-sectional model at the time of moving the second route each time the correction value input by the input unit is changed, and the display unit An error correction apparatus, wherein the displayed cross-sectional model at the time of moving the first path and the cross-sectional model at the time of moving the second path are updated. An error correction apparatus that performs error correction in laser surveying using a moving body equipped with a laser scanner,
A storage unit for moving the movable body within the survey target region and storing measurement data obtained by the movement;
An input unit for inputting a correction value in error correction;
Based on the measurement data stored in the storage unit and the correction value input by the input unit, a calculation unit that calculates a cross-sectional model in the survey target region,
The cross-sectional model calculated by the calculation unit and a display unit that displays a plurality of measurement points in a superimposed manner ,
The calculation unit recalculates the cross-sectional model and updates the cross-sectional model displayed on the display unit every time the correction value input by the input unit is changed. . The error correction device according to claim 1 or 2 ,
The calculation unit extracts a part of measurement data from the measurement data of the original file obtained by the movement of the moving body as an intermediate file, and based on the measurement data of the intermediate file and the correction value input by the input unit An error correction apparatus that calculates the cross-sectional model. An error correction program for causing a computer to perform error correction in laser surveying using a moving body equipped with a laser scanner,
The computer moves the moving body in a survey target area on a first route and a second route having a different movement direction from the second route, and the measurement data at the time of moving the first route obtained by this movement. And a storage unit that stores measurement data when the second path is moved, and an input unit for inputting a correction value in error correction,
In the computer,
Based on the measurement data stored in the storage unit and the correction value input by the input unit, a cross-sectional model in the measurement region at the time of the first path movement corresponding to the same cross-sectional position in the measurement region, A function of calculating a cross-sectional model in the measurement area when moving the second path;
A function of displaying by superimposing a computed cross-sectional model of the cross-sectional model and upon movement said second path during the movement first path on the display unit,
Each time the correction value input by the input unit is changed, the cross-sectional model at the time of moving the first route and the cross-sectional model at the time of moving the second route are recalculated, and the first displayed on the display unit. An error correction program for executing a function of updating a cross-sectional model at the time of moving one path and a cross-sectional model at the time of moving the second path. An error correction program for causing a computer to perform error correction in laser surveying using a moving body equipped with a laser scanner,
The computer includes a storage unit that moves the movable body in a survey target region, stores measurement data obtained by the movement, and an input unit that inputs a correction value in error correction,
In the computer,
A function of calculating a cross-sectional model in the survey target region based on the measurement data stored in the storage unit and the correction value input by the input unit;
A function of superimposing and displaying the calculated cross-sectional model and a plurality of measured points on a display unit;
An error correction characterized by causing the cross-sectional model to be recalculated and the cross-sectional model displayed on the display unit to be updated each time the correction value input by the input unit is changed. program.

Images