JP6707098B2 - 3D model generation system - Google Patents

Description

The present invention relates to a system for flying over an object with a flying body equipped with a measuring instrument and generating unevenness data of the object.

BACKGROUND ART Laser surveying instruments mounted on automobiles and aircrafts are used to generate three-dimensional data (three-dimensional model) relating to unevenness of the ground surface, roads, and the like. In any case, the position (local coordinate) of the measurement point of the object by the laser is corrected in consideration of the attitude of the mounted automobile or aircraft to obtain a correct three-dimensional model.

For example, in Patent Document 1, the position of the ground surface (local coordinates) is measured from the aircraft by a laser, the attitude of the aircraft is measured by an inertial measuring device, and the height of the ground surface (irregularities of the ground surface) is calculated. There is.

Patent 4923706

However, in the conventional technique as disclosed in Patent Document 1, the measurement times of the inertial measuring device and the laser range finder have to be matched, and high-precision adjustment is required.

In addition, there is a problem that the result of the laser distance measurement cannot be correctly corrected unless an expensive and accurate instrument is used as the inertial measurement device, resulting in a large error.

An object of the present invention is to provide a system that solves the above problems and can accurately generate a three-dimensional model using an inexpensive device.

The following are some independently applicable features of the invention.

(1) (2) (3) (5) the three-dimensional model generation system according to the present invention, a flying body flying above the object, and mounted on the flying body, the measurement time and the roll corresponding data measured A roll measuring instrument that outputs, a pitch measuring instrument that is mounted on the flying body and outputs measurement time and measured pitch correspondence data, and a yaw measurement that is mounted on the flying body and outputs measurement time and measured yaw correspondence data And a global position measuring device mounted on the flying body and outputting measured time and measured global position data, and a local position measuring device mounted on the flying body and outputting local time data of the measuring time and the measuring point of the object. Based on the position measuring device and the roll-corresponding data, pitch-corresponding data or yaw-corresponding data at the measuring time close to the measuring time of the local position data, the roll-corresponding data, the pitch-corresponding data or the yaw-corresponding data at the measuring time of the local position data. Estimate corresponding data, and use roll corresponding data, pitch corresponding data, yaw corresponding data as roll data, pitch data, yaw data, or roll data, pitch data, yaw data based on roll corresponding data, pitch corresponding data, yaw corresponding data An estimating means for calculating
A three-dimensional data generation unit that generates data indicating the uneven shape of the object based on the roll data, pitch data, yaw data, local position data, and global position data at the same time.

Therefore, it is possible to obtain highly accurate three-dimensional data without performing measurement in perfect synchronization with each measuring device.

(4) In the system according to the present invention, the aircraft flies by linearly folding over the object while shifting the flight route perpendicular to the flight direction, and the aircraft is a predetermined distance from the end of the object. With the turning point at a distance, the deceleration and acceleration are performed between the end of the object and the turning point, and the speed is controlled to be constant over the object, and the three-dimensional model is calculated based on the data of the constant velocity part. It is characterized by generating.

Therefore, it is possible to fly at a constant speed above the object and accurately perform the above interpolation processing.

(5) (6) (7) (8) (10) The three-dimensional model generation system according to the present invention is a flying body that flies over an object, and is mounted on the flying body. A roll measuring device that outputs corresponding data, a pitch measuring device that is mounted on the flying body and outputs measurement time and measured pitch corresponding data, and a pitch measuring device that is mounted on the flying body and outputs measured time and measured yaw corresponding data A yaw measuring device that is mounted on the aircraft, and a global position measuring device that is mounted on the aircraft and outputs measured time and measured global position data. The local position measuring device that outputs and the roll-corresponding data, pitch-corresponding data, and yaw-corresponding data are directly used as roll data, pitch data, yaw data, or roll-corresponding data, pitch-corresponding data, and yaw-corresponding data are used. , A three-dimensional model generation system including three-dimensional data generation means for calculating yaw data and generating data indicating the concavo-convex shape of the object based on roll data, pitch data, yaw data, local position data, and global position data. In the above, the local position measuring instrument measures the local coordinates of the measuring point of the object over a measuring area having a predetermined length in the flight direction and a predetermined width perpendicular to the flight direction in one measurement cycle. , The measurement areas in the adjacent measurement cycles partially overlap in the flight direction, and the three-dimensional data generation means converts the unevenness shape data of the adjacent measurement area adjacent to the target measurement area into the unevenness data of the overlapping portion. It is characterized in that it is provided with an error correcting means for correcting it based on the above.

Therefore, the area of the entire area can be corrected based on the data of the overlapping area.

(9) In the system according to the present invention, the error correcting means further includes a distance measuring device based on unevenness shape data when a reference plane installed in the vicinity of the object and having a known three-dimensional position is measured. It is characterized in that an error in the unevenness shape data due to the deviation of the pitch measuring device and the roll measuring device from the predetermined angle is corrected.

Therefore, the correction by the reference plane can be reflected in all the regions.

(11) (12) (13) (14) The three-dimensional model generation system according to the present invention, while shifting the flight route perpendicular to the flight direction, the flying body flying by linearly folding over the object, A roll measuring device mounted on the flying body and outputting measured time and measured roll corresponding data, a pitch measuring device mounted on the flying body, outputting measured time and measured pitch corresponding data, and the flying body Equipped with a yaw measuring device that outputs measurement time and measured yaw corresponding data, and a global position measuring device that is installed in the aircraft and outputs measurement time and measured global position data, and is installed in the aircraft, A local position measuring device that outputs the measurement time and the local position data of the measurement point of the object, and roll-corresponding data, pitch-corresponding data, yaw-corresponding data as it is as roll data, pitch data, yaw data, or roll-corresponding data, pitch-corresponding data A third order that calculates roll data, pitch data, yaw data based on the data and yaw correspondence data, and based on the roll data, pitch data, yaw data, local position data, and global position data, generates data indicating the uneven shape of the object. In the three-dimensional model generation system including the original data generation means, the local position data is measured at each measurement point in an area having a width in a direction perpendicular to the flight direction, and the distance between adjacent flight routes due to the folding back. In the overlapping area of the value measurement area, local position data of the area whose angle to the flight route is closer to vertical is used.

Therefore, a highly accurate model can be generated using only more accurate three-dimensional data.

(15) In the system according to the present invention, the roll measuring instrument and the pitch measuring instrument are inertial measuring instruments, and the yaw measuring instrument is a plurality of satellite positioning systems arranged in a polygonal shape on a plane horizontal to the flight surface of the flying object. The global position measuring device is also used as the position detecting device by the plurality of satellite positioning systems.

Therefore, the yaw can be accurately detected by the global position detector.

(16) In the system according to the present invention, the local position measuring device is a laser that measures the position of each measurement point of the object over a predetermined length in the flight direction centered on the flying object and a predetermined width perpendicular to the flight direction. It is characterized by being a measuring instrument.

Therefore, the relative position of the measurement point can be accurately detected.

(17) The measuring instrument unit according to the present invention is a measuring instrument unit to be mounted on a flying body in order to generate a three-dimensional model, and a roll measuring instrument for measuring the roll of the flying body and a pitch of the flying body. A pitch measuring device for measuring and a laser scanner capable of detecting a local position over a predetermined width while rotating the measuring direction by 360 degrees, and were arranged such that a rotation surface in the measuring direction was substantially perpendicular to an object. It is equipped with a laser scanner.

Therefore, the position of the measurement point can be accurately detected.

(18) The measuring instrument unit according to the present invention is characterized in that a position measuring instrument and a yaw measuring instrument are also provided in the measuring instrument unit.

Therefore, it is possible to obtain all necessary minimum data for generating the three-dimensional model in the measuring instrument unit.

In the embodiment, the “estimating means” corresponds to steps S3 and S4.

In the embodiment, the “three-dimensional data generating means” corresponds to steps S22 and S24.

In the embodiment, the “measured value acquisition means” corresponds to step S1.

In the embodiment, the “error correction means” corresponds to step S24.

The “program” is a concept including not only a program directly executable by the CPU but also a source format program, a compressed program, an encrypted program, and the like.

It is a functional block diagram of a three-dimensional model generation system by one embodiment of this invention. 3 is an external view of the flying object 2. FIG. It is a figure which shows a measurement unit. It is a figure which shows the duplication of a measurement area. It is a figure which shows the locus|trajectory of the flight route 62. It is a hardware configuration of a computer mounted on the aircraft 2. It is a hardware configuration of a three-dimensional model generation device. It is a flowchart of a three-dimensional model generation program. It is an example of measurement data of global position detectors 4, 6, and 8. It is an example of the measurement data of the laser measuring instrument 10 and the inertial measuring instrument 2. It is a figure which shows the interpolation of data. It is an example of integrated measurement data. It is a flowchart of a three-dimensional model generation program. It is a figure which shows the specific method of the position of a flying body. It is an example of integrated measurement data. It is a flowchart of a three-dimensional model generation program. It is a figure which shows the global position of an air vehicle, a posture, and the relationship of a local position. It is a figure which shows inclination / height correction. It is a flowchart of a three-dimensional model generation program. It is a figure which shows the detail of the correction process in an overlap area. It is a figure which shows the produced|generated three-dimensional model. It is a figure which shows a horizontal overlap area. It is a comparison diagram of the three-dimensional model by a ground type scanner and the three-dimensional model by an embodiment.

1. Overall Configuration FIG. 1 shows a functional block diagram of a three-dimensional model generation system according to an embodiment of the present invention. An air vehicle 20, such as an unmanned aerial vehicle (UAV), flies over an object (for example, the surface of the earth) which is an object for which three-dimensional data is desired to be generated and performs measurement. The aircraft 20 is equipped with an inertial measuring device 2, global position detectors 4, 6, 8 by GNSS, and a local position detector 10. The inertial measuring device 2 outputs the roll data and the pitch data together with the measurement time by using at least a biaxial gyro and a bidirectional accelerometer. The measurement time is measured by a clock calibrated by the atomic clock of the GPS satellite. The same applies to the measurement data of the global position detectors 4, 6, 8 and the local position detector 10. In this embodiment, the inertial measuring device 2 functions as a roll measuring device and a pitch measuring device.

The GNSS global position detectors 4, 6 and 8 respectively receive radio waves from satellites and output global position data (planar rectangular coordinate system). The global position detectors 4, 6, and 8 are provided on a surface that is substantially horizontal to the object. The global position detectors 4, 6, 8 output the global position data together with the measurement time. The yaw of the air vehicle 20 can be calculated from these global position data. That is, in this embodiment, the outputs of the global position detectors 4, 6, 8 are yaw correspondence data, and the global position detectors 4, 6, 8 function as yaw detectors.

Further, the global position detectors 4, 6 and 8 also function as global position measuring devices that measure the position of the air vehicle 20.

Further, the local position measuring device 10 measures the local position of the measurement point of the object (coordinate position with the flying body 20 as the origin) by laser light or the like, and outputs it as local position data together with the measurement time.

The measured values from the inertial measuring device 2, the global position detectors 4, 6, 8 and the local position detector 10 are recorded in a recording medium and then taken in by the measured value acquisition means 12 of the three-dimensional model generation device 22. .. It should be noted that the measured values from the inertial measuring device 2, the global position detectors 4, 6, 8 and the local position detector 10 may be directly fetched by the measured value acquisition means 12 .

The three-dimensional data generation means 16 calculates the global coordinates of the measurement point of the target object based on the global position data of the flying body 20 at the time of measurement, the attitude data (roll, pitch, yaw), and the local position data. Then, three-dimensional data indicating the three-dimensional position of the measurement point of the object is generated.

In order to perform this calculation, local position data by the local position detector 10 measured at the same time, roll data by the inertial measuring device 2, pitch data, global position data by the global position detectors 4, 6, 8 (yaw correspondence Value, global position data) is required. However, in order to measure all of them at the same short time interval, it is necessary to use high-precision devices with extremely short measurement intervals for the respective measurement devices, especially the global position detectors 4, 6, 8.

Therefore, in this embodiment, the local position detector 10 measures the local position based on the global position data measured at a time adjacent to the time at which the local position detector 10 measures the local position of the measurement point. Global position data at time is interpolated and estimated. The estimating means 14 performs this processing.

In this embodiment, since the roll data and the pitch data of the inertial measuring device 2 are measured at short intervals, interpolation is not performed, and the roll data of the measuring time closest to the measuring time by the local position detector 10, Pitch data is used as an estimated value. Note that these data may be interpolated and estimated in the same manner as above.

As described above, the three-dimensional data generation unit 16 considers the attitude (roll, pitch, yaw) of the flying object 20, and based on the local position data of the measurement point and the global position data of the flying object 20, the target object. 3D data of the measurement points of is generated.

When generating the above three-dimensional data, the three-dimensional data should be generated accurately in consideration of the mutual positional relationship among the global position detectors 4, 6, 8 and the local position detector 10 and the inertial measuring device 2. I have to.

However, when these devices are installed on the air vehicle 2, it is difficult to precisely attach the mutual positional relationship as designed. Therefore, this mounting error causes an error in the three-dimensional data generated by the coordinate conversion process. Further, the global position detector based on GNSS does not have sufficient accuracy in the height direction. Therefore, in this embodiment, a reference plane whose global position is known (for example, a plane such as a desk whose global positions of four corners are known) is installed in the vicinity of the object, and the above-mentioned error is generated by the three-dimensional data generated for this. Is calculated and the generated three-dimensional data is corrected.

In this embodiment, as shown in FIG. 4, the local position detector 10 has a predetermined length and a predetermined flight direction in the flight direction DR with the flying object 2 as the center (the flight center line is indicated by CL) in one measurement unit . The local position (three-dimensional position in coordinates with the local position detector 10 as the origin) of the measurement point of the object in the measurement area having a predetermined width is measured vertically. In FIG. 4, AR1, AR2, and AR3 each represent a measurement area of one measurement unit. The measurement area AR1 is indicated by diagonal lines, the measurement area AR2 is indicated by dot patterns, and the measurement area AR13 is indicated by diagonal lines. As shown in FIG. 4, the measurement area in the next one measurement unit partially overlaps with the measurement area before it in the flight direction. For example, the measurement area AR1 and the measurement area AR2 overlap in the overlapping measurement area D12. Similarly, the measurement area AR2 and the measurement area KR3 overlap in the overlapping measurement area D23.

Therefore, when the three-dimensional data of the measurement area corrected by the above-mentioned reference plane is obtained, the three-dimensional data of the adjacent measurement areas can also be corrected based on the three-dimensional data of the overlapping portion. As a result, even if the object has a large area, the entire three-dimensional data can be corrected if there is a small reference plane .

2. System configuration
2.1 Configuration of Aircraft 20 FIG. 2 shows an example of the aircraft 20 of the three-dimensional model generation system according to one embodiment. In this embodiment, a computer controlled unmanned aerial vehicle (UAV) is used as the air vehicle 20. Three GPS receivers 4, 6 and 8 are provided at the end outside the rotor. These are provided on a horizontal plane (a plane substantially horizontal to the object) at an angle of 120 degrees with each other.

A computer 11 for acquiring and recording measurement data is provided on the upper portion of the main body of the flying body 20. An inertial measuring instrument 2 for obtaining angular velocity data and acceleration data in the three-dimensional direction is provided at the lower part of the main body. Further, a laser measuring device 10 as a local position detector is provided below the laser measuring device 10.

FIG. 3A shows a positional relationship between the inertial measuring instrument 2 and the laser measuring instrument 10. These measuring instruments are fixed to the installation housing 30 and mounted on the aircraft 20. The inertial measuring device 2 is configured to be able to output a roll value, a pitch value, and a yaw value in the flight direction 32. That is, a roll value that is a rotation about the flight advancing direction 32, a pitch value that is a rotation about a direction 34 that is perpendicular to the flight advancing direction, and a pitch value that is below the flight advancing direction. It is configured to be able to output a yaw value that is rotation about the method 36.

However, since the yaw value of the inertial measuring device 2 has a large error, in this embodiment, the yaw value is calculated based on the output data of the global position detectors 4, 6, 8 by GNSS. Therefore, from the inertial measuring device 2, only the roll value and the pitch value are used.

The installation housing 30 is attached to the aircraft 2 so that the triangular plane formed by the global position detectors 4, 6, and 8 is horizontal to the plane perpendicular to the direction 36 in FIG. 3A .

As shown in FIG. 3B (side view of FIG. 3A), the laser measuring instrument 10 measures the local position of the measurement point of the object in the direction indicated by the arrow 11a with the point C as the center. At this time, as shown in FIG. 3A, the laser measuring device 10 has a predetermined width in the flight direction 32 (a predetermined angle with respect to the measurement center direction 11x) to determine the local position of each measurement point of the object. measure.

Further, as shown in FIG. 3B, the laser measuring instrument 10 rotates the measuring direction clockwise around the point C. Therefore, the measurement is performed while constantly rotating the measurement direction around the point C. However, in this embodiment, since there is an object in the downward direction, as shown in FIG. 3B, between the downward direction 11b (matched with the direction 36 in FIG. 3A) and a predetermined front-back angle (for example, 14 degrees). Only measured values are used. The measurement for each rotation is one measurement unit. Therefore, the measurement area of the measurement point on the object has a rectangular shape corresponding to one measurement unit of the laser measuring instrument 10. The local position data obtained by the laser measuring instrument 10 becomes a large number of point cloud data on the object.

The laser measuring instrument 10 is attached such that the surface formed by rotating the central direction 11x is a surface perpendicular to the direction 34 of the inertial measuring instrument 2 in FIG. 3A .

FIG. 4 shows measurement areas AR1, AR2, AR3,... For each measurement unit of the laser measuring instrument 10. Rectangular measurement areas AR1, AR2, AR3... Are shown around the flight center line CL of the flying object 20. These measurement areas AR1, AR2, AR3... Are arranged in the direction of the flight direction DR. Further, the adjacent measurement area AR1 and measurement area AR2 overlap to form an overlapping measurement area D12. Similarly, the adjacent measurement area AR2 and measurement area AR3 overlap, forming an overlapping measurement area D23.

FIG. 5 shows an example of the flight locus 62 of the flying object 20 when the predetermined area on the ground surface is the object 60. This flight trajectory 62 is recorded in advance, and the computer mounted on the flight vehicle 20 controls the flight vehicle 20 to fly along this line. The flight trajectory 62 is folded back and shifted in a direction perpendicular to the flight direction.

Since the flight speed changes rapidly near the turning point, the accuracy of the interpolated measurement data may be affected. Therefore, the end portion (the end portion of the area) of the object 60 is not folded back immediately, but is folded back after a predetermined distance L. Thus, the flight speed of the object (area) 60 in the sky is made as constant as possible.

FIG. 6 shows a hardware configuration of a computer mounted on the flying body 20. A memory 52, a portable recording medium 54, a hard disk 56, a flight control unit 58, an inertial measuring device 2, global position detectors 4, 6, 8 and a laser measuring device 10 are connected to the CPU 50. The flying body control unit 58 controls the attitude and the like of the flying body 20. Further, based on the position data of the global position detectors 4, 6 and 8, it is controlled to fly according to the flight route set in the hard disk 56. In this embodiment, the flight is automatic, but the flight may be performed manually.

The measurement data from the inertial measuring device 2, the global position detectors 4, 6, 8 and the laser measuring device 10 is recorded on the portable recording medium 54. The portable recording medium 54 can be removed and carried. The recorded measurement data is passed to the three-dimensional model generation device after the flight by the portable recording medium 54.

2.2 Three-dimensional model generator Figure 7 shows the hardware configuration of the three-dimensional model generator. A memory 82, a display 84, a mouse/keyboard 86, a hard disk 88, a DVD-ROM drive 90, a portable recording medium 54, and a communication circuit 92 are connected to the CPU 80.

The communication circuit 92 is for connecting to the Internet or the like. The portable recording medium 54 is removed from the flying body 20 after the flight, and the measurement data is recorded therein.

An operating system 94 and a three-dimensional model generation program 96 are recorded on the hard disk 88. The three-dimensional model generation program 96 cooperates with the operating system 94 to exert its function. These programs are those recorded on the DVD-ROM 98 and installed on the hard disk 88 via the DVD-ROM drive 90.

3. 3D model generation processing
3.1 Correspondence of Measured Values FIG. 8 shows a flowchart of processing relating to correspondence of measured values of the three-dimensional model generation program 96.

This process determines roll data, pitch data, and global position data at the same measurement time for local position data at each measurement point by laser measurement. This is because it is possible to calculate the global position of the measurement point based on the local position data and the global position data in consideration of the attitude of the flying object 20 only when these measured values are obtained at the same time.

First, the CPU 80 takes in the measurement data recorded in the portable recording medium 54 and expands it in the memory 82 (step S1). It should be noted that instead of loading all at once, it may be loaded each time it is needed in processing.

9A and 9B show examples of captured data. The measurement time is also recorded for each of the measured values. The roll data and the pitch data are data output from the same inertial measuring device 2, and as shown in FIG. 9A, measured values are obtained at the same time. The global position data detectors 4, 6 and 8 measure the measurement time by the same clock and obtain the measurement value at the same time. Since the clocks of these measuring instruments and detectors are calibrated by the atomic clocks of GPS satellites, their reliability is high.

In the local position data by the laser measuring device 10, which measurement unit (measurement unit corresponding to the measurement areas AR1, AR2... In FIG. 4) is also recorded. In this embodiment, the aircraft is the origin, the traveling direction of the aircraft 2 is Y, the lateral direction perpendicular to the traveling direction is X, and the downward direction perpendicular to the traveling direction is Z. It may be data represented by polar coordinates.

Next, the CPU 80 associates the local position data of one point with the roll data and the pitch data measured at the closest time (step S3). In this embodiment, as shown in FIG. 10, since the measurement interval of the inertial measuring instrument 2 is short (0.02 second interval), the error is within 0.01 seconds at the maximum. In the case of FIG. 10, the roll value R is associated with the local position data D.

Next, the CPU 80 associates the global position data with the local position data of one point (step S4). In this embodiment, the global position data by GNSS has a longer measurement interval (0.2 second interval) than the roll data/pitch data. Therefore, the error is large when it is associated with the global position data measured at the closest time. Therefore, in this embodiment, the two global position data P1 and P2 close to the front and back are used to perform interpolation to calculate the estimated global position data Px, and the estimated global position data Px are associated with each other.

In the interpolation, it is assumed that the flying body 20 is moving at a constant speed, and the estimated position data Px is calculated from the ratio of the time differences A and B. That is, interpolation is performed using the following formula.

Px=P1+(P2-P1)・(A/(A+B))
As described above, the roll angle, the pitch angle, and the three global position data can be associated with the local distance data at the predetermined time.

The CPU 80 does this for all measurement data (steps S2 and S5). In this way, integrated measurement data as shown in FIG. 11 can be obtained.

3.2 Calculation of Yaw Value and Aircraft Position In this embodiment, the yaw value is calculated based on the global position data by the position detectors 4, 6, 8. FIG. 12 shows a flowchart of a process relating to the calculation of the yaw angle/aircraft position of the three-dimensional model generation program 96.

The CPU 80 selects two highly reliable ones out of the three global position data based on the integrated measurement data (step S12). In this embodiment, global position data having a high Fix rate is selected as highly reliable.

In this embodiment, as shown in FIG. 13A, the three GNSS global position detectors 4, 6, and 8 are arranged at the vertices of a triangle (other polygons may be used), and their relative positions are It is known. For example, when the global position detectors 4 and 8 are selected as having high reliability, the traveling direction of the flying body 20 is the direction from the position of the global position detector 8 toward the position of the global position detector 4 to the global position. The direction is rotated by an angle φ around the detector 4. The angle φ is known.

Further, as shown in FIG. 13B, when the global position detectors 6 and 8 are selected as having high reliability, the traveling direction of the aircraft 20 is from the position of the global position detector 8 to the position of the global position detector 6. The direction toward is the direction rotated 90 degrees clockwise.

After calculating the direction of the flying object 20 as described above, the yaw can be obtained by calculating the angle with the north direction (which can be calculated based on the global position data) (step S13).

Subsequently, the CPU 80 calculates the center point of the three global position data and sets it as the position (north latitude, east longitude, height) of the flying body 20 (step S14). Even when only two pieces of global position data can be acquired, the center point can be calculated because the positions of the global position detectors 4, 6, and 8 are known.

The CPU 80 performs the above processing for all times of the integrated measurement data (steps S11 and S15).

As described above, as shown in FIG. 14, the attitude, global position, and local position of the measurement point of the flying object 20 at each time are obtained.

3.3 Generation of Three-Dimensional Model FIG. 15 shows a flowchart of processing relating to three-dimensional data generation of the three-dimensional model generation program 96.

The CPU 80 calculates the global position of the measuring point based on the global position of the flying object 2, the roll, pitch, yaw of the flying object, and the local position of the measuring point using the integrated measurement data (step S22). This is schematically shown in FIG. First, the global position of the air vehicle 2 is obtained from the integrated measurement data. Furthermore, the position of the measurement point can be specified in relation to the aircraft 2 by the local position data in the coordinate system that is inclined considering the roll, pitch, and yaw of the aircraft 2. Therefore, the global position of the measurement point can also be calculated.

Further, at this time, the global position of the measurement point is accurately detected in consideration of the mounting position relationship between the devices. For example, the global position is calculated in consideration of the difference between the center position of the inertial measuring device 2 and the center position of the laser measuring device 10 in FIGS. 3A and 3B.

The CPU 80 repeats this processing for all the time data of the integrated measurement data, and calculates the three-dimensional data of the measurement point group (steps S21 and S23). FIG. 20 shows an example of the generated three-dimensional data.

Next, the CPU 80 corrects the height/inclination for each measurement unit (step S24). In this embodiment, in order to correct an error in three-dimensional data due to a mounting error between measuring instruments or a measuring error of each measuring instrument, reference planes with known global positions of four corners are provided near an object (for example, on the ground). It is installed.

The inclination and height are corrected by the three-dimensional data (corresponding by the plane rectangular coordinates) of the four corners in the measurement unit (reference measurement area) including these four corners as measurement points.

FIG. 18 shows a flowchart of the height/tilt correction processing. The CPU 80 first corrects the inclination of the reference measurement area (step S31).

For example, assume that two points on a known reference plane are R1 and R2, as shown in FIG. If the corresponding three-dimensional data is TD1 and TD2, a straight line connecting the two is assumed, and the three-dimensional data in the reference measurement area is corrected so that the inclination θ of the straight line becomes 0 degree.

Although only the inclination in the direction shown in FIG. 17 has been described above, the inclination in the direction perpendicular to the paper surface is also corrected in the same manner.

As described above, the inclination correction values θx (correction value in the X-axis direction) and θy (correction value in the Y-axis direction) are used to correct the inclination of the three-dimensional data in the reference measurement area.

Next, the CPU 80 applies the correction values θx and θy to all other measurement areas to correct the inclination (step S32). As a result, the inclinations of all measurement areas are corrected.

Further, in the reference measurement area, the CPU 80 corrects the height of the three-dimensional data in the reference measurement area by the distance ER between the TD1 and R1 (the same applies to TD2 and R2) after the inclination correction (step S). S33). As a result, both the tilt and the height are corrected in the reference measurement area, and only the tilt is corrected in the other areas.

Next, the CPU 80 corrects the height of other measurement areas (steps S34 to S42). In this embodiment, as shown in FIG. 4, measurement is performed so that adjacent measurement areas overlap. Therefore, the reference measurement area is set as the reliability area, and the adjacent measurement area having the overlapping area is set as the target area for height correction (step S34). Since the same area is measured in this overlapping area, it should have the same height at the same position. Therefore, the height of the target area is corrected to match the height of the reference measurement area. The details of the processing will be described below.

First, the CPU 80 sets a circular predetermined area at the end of the overlapping area of the reference measurement area, and determines whether the number of measurement points of the target area and the number of measurement points of the adjacent area included in the circle both exceed the predetermined number. to decide. If the number of points does not exceed the predetermined number, the reliability is low and the correction based on the circle is not performed.

Next, it is determined whether or not the three-dimensional data is flat (there may be an angle) for the area exceeding the predetermined score. FIG. 19B shows a plan view of three-dimensional data in the vicinity of the overlapping area, and FIG. 19A shows its vertical section. In the figure, the three-dimensional data of the reference measurement area is indicated by a thick circle, and the three-dimensional data of the target area is indicated by a thin circle. ARE1 to ARE4 in FIG. 19B are predetermined areas. Although not shown, the predetermined area is sequentially set over the width of the measurement area.

The CPU 80 determines whether the three-dimensional data of the reference measurement area is flat in each of the areas ARE1 to ARE4, and selects one area having a predetermined flatness or more (step S36). Note that the flatness can be calculated assuming that a plane that approximates all the points in the region is assumed and the smaller the total sum of the distances between the plane and each point, the higher the flatness. Therefore, areas such as ARE4 that are not flat in the height direction will not be selected (see corresponding FIG. 19A). This is because if the height correction is performed with the non-flat region as a reference, a slight deviation of the plane position may greatly affect the height, and the correction error may increase.

Next, the CPU 80 determines whether or not the flatness of the target area is equal to or larger than a predetermined value in the selected area (step S38). If the target area is not flat, another area that satisfies the flatness condition of the reference measurement area is selected, and it is determined whether the flatness of the target area in the target area satisfies the conditions (steps S43 and S38). ..

By the above processing, a region where the flatness satisfies the conditions is found for both the reference measurement area and the target area. The CPU 80 corrects the height based on this area (step S39).

For example, assume that the area ARE2 is selected. Here, as shown in FIG. 19A, the CPU 80 calculates the average height value of the points of the three-dimensional data of the reference measurement area belonging to the area ARE2. Further, the height average value of the points of the three-dimensional data of the target area belonging to the area ARE2 is calculated. The three-dimensional data of the entire target area is corrected so that the difference DEF between the two average values becomes zero. In the case of FIG. 19A, the difference DEF is added in the height direction to the three-dimensional data of the entire target area.

The height of the target area is corrected as described above. Next, the CPU 80 sets the corrected target area as the trust area, and the adjacent measurement area overlapping this is set as the target area, and repeats step S37 and subsequent steps.

By performing this for all measurement areas, the height of the three-dimensional data in all areas can be corrected.

When the inclination/height correction is completed as described above, the CPU 80 performs a process of selecting three-dimensional data in the left and right overlapping areas (FIG. 15, step S25).

In this embodiment, the flight route of the air vehicle 2 is as shown in FIG. When the flight route is set, the measurement areas are partially overlapped on the adjacent return flight routes 62a and 62b so that measurement leakage does not occur.

The details are shown in FIG. In the figure, it can be seen that an overlapping area DUP is formed between the flight line (center line of movement of the flight vehicle 2) F1 and the flight line F2. In this overlapping area DUP, three-dimensional data based on the measurement area by two flight lines is included. Both data may be used, but in this embodiment, only the three-dimensional data of one of the measurement areas is adopted.

In this embodiment, the measurement area is divided into small rectangular areas A1, A2... A101, A102... As shown in FIG. 21, and when two areas of flight lines adjacent in the lateral direction overlap each other, measurement is performed. The three-dimensional data closer to the flight line where the flight was performed is left. For example, in the area A1, since it is close to the flight line F1, three-dimensional data based on the measurement data of the flight line F1 (three-dimensional data of the measurement area ARE1) is left, and three-dimensional data based on the measurement data of the flight line F2 ( (3D data of the measurement area ARE11) is deleted. If it is the area A101, since it is close to the flight line F2, three-dimensional data based on the measurement data by the flight line F2 (three-dimensional data of the measurement area ARE11) is left, and three-dimensional data based on the measurement data by the flight line F1 (measurement area). 3D data of ARE1) is deleted.

As described above, it is possible to generate three-dimensional data regarding the object as shown in FIG.

FIG. 22A shows three-dimensional data measured by a laser scanner installed on the ground. FIG. 22B shows three-dimensional data generated by the method of this embodiment. It can be understood that the three-dimensional data obtained by the system according to the present embodiment is comparable to the ground-based laser scanner, which requires a great deal of cost and time for measurement.

4. Other
(1) In the above embodiment, the inertial detector 2 is used as the roll measuring device and the pitch measuring device. However, independent devices may be used as the roll measuring device and the pitch measuring device. As the roll measuring device and the pitch measuring device, a plurality of GNSS position detectors may be arranged and used as in the yaw measuring device in the above embodiment.

(2) In the above embodiment, a plurality of GNSS position detectors are used as the yaw measuring device. A position detector using GPS or a plurality of base stations may be used. Alternatively, the yaw output of the inertial detector 2 may be used.

(3) In the above embodiment, the laser scanner is used as the local position detector. However, a detector using sound waves, light, etc. may be used.

(4) In the above embodiment, the flight speed of the flying object 2 is adjusted so that the measurement areas partially overlap in the flight progress direction. Thereby, the error in the height direction can be corrected based on the overlapping area.

However, when the overlapping area is not formed due to the change in flight speed, the above correction cannot be performed. In this case, the correction may be performed based on the overlap area DUP shown in FIG.

In addition, a computer mounted on the flying body 20 may determine in real time whether or not adjacent measurement areas overlap. If it becomes clear that they do not overlap, the fact is communicated to a computer on the ground by wireless communication or Internet communication. As a result, re-flight can be carried out immediately during flight, and there is no waste.

(5) In the above embodiment, the device is mounted on the unmanned air vehicle 2. However, the device may be mounted on a manned airplane or helicopter. In addition, a device may be mounted on a ship or the like with the seabed as an object to generate three-dimensional data of the seabed.

(6) In the above embodiment, GNSS data is used as global position data, but position data within a predetermined area may be used as global position data.

(7) In the above embodiment, the case where one reference plane is provided has been described. However, a plurality of reference planes may be provided and the correction may be performed based on the closest reference plane. This makes it possible to minimize the error.

(8) In the above embodiment, the plane coordinate system is used as the global coordinate system. However, latitude/longitude may be used.

Claims (18)

An air vehicle that flies over the object,
A roll measuring instrument that is mounted on the aircraft and outputs the measured time and the measured roll-corresponding data,
A pitch measuring device which is mounted on the flying body and outputs measurement time and measured pitch corresponding data,
A yaw measuring device that is mounted on the aircraft and outputs the measurement time and the measured yaw correspondence data,
A global position measuring device that is mounted on the aircraft and outputs measured time and measured global position data,
A local position measuring device which is mounted on the aircraft and outputs local time data of a measuring time and a measuring point of an object,
Estimating roll-corresponding data, pitch-corresponding data, or yaw-corresponding data at the measuring time of the local position data, based on roll-corresponding data, pitch-corresponding data, or yaw-corresponding data at measurement times close to the measurement time of the local position data. , The roll corresponding data, the pitch corresponding data, the yaw corresponding data are directly used as the roll data, the pitch data, and the yaw data, or the estimating means for calculating the roll data, the pitch corresponding data, and the yaw corresponding data based on the roll corresponding data, the pitch corresponding data, and the yaw corresponding data. When,
Three-dimensional data generation means for generating data indicating the uneven shape of the object based on roll data, pitch data, yaw data, local position data, and global position data at the same time,
3D model generation system equipped with. Measurement time and roll corresponding data measured by a roll measuring device mounted on a flying body flying above an object, pitch corresponding data measured by a pitch measuring device mounted on the flying body, and the flying body Measurement time and yaw correspondence data measured by the yaw measuring device installed on the aircraft, measurement time and global position data measured by the global position measuring device installed on the aircraft, and local data installed on the aircraft. A measurement value acquisition means for acquiring the measurement time measured by the position measuring instrument and the local position data of the measurement point of the object,
Estimating roll-corresponding data, pitch-corresponding data, or yaw-corresponding data at the measuring time of the local position data, based on roll-corresponding data, pitch-corresponding data, or yaw-corresponding data at measurement times close to the measurement time of the local position data. , The roll corresponding data, the pitch corresponding data, the yaw corresponding data are directly used as the roll data, the pitch data, and the yaw data, or the estimating means for calculating the roll data, the pitch corresponding data, and the yaw corresponding data based on the roll corresponding data, the pitch corresponding data, and the yaw corresponding data. When,
Three-dimensional data generation means for generating data indicating the uneven shape of the object based on roll data, pitch data, yaw data, local position data, and global position data at the same time,
A three-dimensional model generation device equipped with. A three-dimensional model generation program for realizing a three-dimensional model generation device by a computer,
Measurement time and roll corresponding data measured by a roll measuring device mounted on a flying body flying above an object, pitch corresponding data measured by a pitch measuring device mounted on the flying body, and the flying body Measurement time and yaw correspondence data measured by the yaw measuring device installed on the aircraft, measurement time and global position data measured by the global position measuring device installed on the aircraft, and local data installed on the aircraft. A measurement value acquisition means for acquiring the measurement time measured by the position measuring instrument and the local position data of the measurement point of the object,
Estimating roll-corresponding data, pitch-corresponding data, or yaw-corresponding data at the measuring time of the local position data, based on roll-corresponding data, pitch-corresponding data, or yaw-corresponding data at measurement times close to the measurement time of the local position data. , The roll corresponding data, the pitch corresponding data, the yaw corresponding data are directly used as the roll data, the pitch data, and the yaw data, or the estimating means for calculating the roll data, the pitch corresponding data, and the yaw corresponding data based on the roll corresponding data, the pitch corresponding data, and the yaw corresponding data. When,
A three-dimensional model generation program for functioning as three-dimensional data generation means for generating data indicating the uneven shape of an object based on roll data, pitch data, yaw data, local position data, and global position data at the same time. The system, device or program according to any one of claims 1 to 3,
The flying body, while shifting the flight route perpendicular to the flight direction, flying in a straight line over the object,
The aircraft is a turning point at a position away from the end of the object by a predetermined distance, performs deceleration acceleration between the end of the object and the turning point, and is controlled to be a constant speed above the object,
A system, an apparatus or a program which generates a three-dimensional model based on the data of the constant velocity portion. A roll measuring instrument that outputs the measurement time and the measured roll correspondence data, a pitch measuring instrument that outputs the measurement time and the measured pitch correspondence data, a yaw measuring instrument that outputs the measurement time and the measured yaw correspondence data, and a measurement time And a global position measuring device that outputs the measured global position data and a local position measuring device that outputs the measurement position and the local position data of the measurement point of the object are carried by flying over the object. A three-dimensional model generation method,
Estimating roll-corresponding data, pitch-corresponding data or yaw-corresponding data at the measuring time of the local position data, based on roll-corresponding data, pitch-corresponding data or yaw-corresponding data at measurement times close to the measurement time of the local position data. , Roll corresponding data, pitch corresponding data, yaw corresponding data as it is roll data, pitch data, yaw data, or roll data, pitch corresponding data, yaw corresponding data is calculated based on the roll corresponding data, pitch corresponding data, yaw corresponding data,
A three-dimensional model generation method for generating data indicating an uneven shape of an object based on roll data, pitch data, yaw data, local position data, and global position data at the same time. An air vehicle that flies over the object,
A roll measuring instrument that is mounted on the aircraft and outputs the measured time and the measured roll-corresponding data,
A pitch measuring device which is mounted on the flying body and outputs measurement time and measured pitch corresponding data,
A yaw measuring device that is mounted on the aircraft and outputs the measurement time and the measured yaw correspondence data,
A global position measuring device that is mounted on the aircraft and outputs measured time and measured global position data,
A local position measuring device which is mounted on the aircraft and outputs local time data of a measuring time and a measuring point of an object,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , Three-dimensional data generating means for generating data indicating the uneven shape of the object based on the pitch data, yaw data, local position data, and global position data,
In a three-dimensional model generation system equipped with
The local position measuring device measures, in one measurement unit , local coordinates of a measurement point of an object over a measurement area having a predetermined length in a flight direction and a predetermined width perpendicular to the flight direction centered on the flying body, and adjacent to each other. The measurement area in the measurement unit that partially overlaps in the flight direction,
The three-dimensional data generation means comprises error correction means for correcting unevenness shape data of an adjacent measurement area adjacent to the target measurement area based on the unevenness data of the overlapping portion. Measurement time and roll corresponding data measured by a roll measuring device mounted on a flying body flying above an object, pitch corresponding data measured by a pitch measuring device mounted on the flying body, and the flying body Measurement time and yaw correspondence data measured by the yaw measuring device installed on the aircraft, measurement time and global position data measured by the global position measuring device installed on the aircraft, and local data installed on the aircraft. A measurement value acquisition means for acquiring the measurement time measured by the position measuring instrument and the local position data of the measurement point of the object,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , Three-dimensional data generating means for generating data indicating the uneven shape of the object based on the pitch data, yaw data, local position data, and global position data,
In a three-dimensional model generation device equipped with
The local position measuring device measures, in one measurement unit , local coordinates of a measurement point of an object over a measurement area having a predetermined length in a flight direction and a predetermined width perpendicular to the flight direction centered on the flying body, and adjacent to each other. The measurement area in the measurement unit that partially overlaps in the flight direction,
The three-dimensional data generation device is provided with an error correction device that corrects unevenness shape data of an adjacent measurement area adjacent to the target measurement area based on the unevenness data of the overlapping portion. A three-dimensional model generation program for realizing a three-dimensional model generation device by a computer,
Measurement time and roll corresponding data measured by a roll measuring device mounted on a flying body flying above an object, pitch corresponding data measured by a pitch measuring device mounted on the flying body, and the flying body Measurement time and yaw correspondence data measured by the yaw measuring device installed on the aircraft, measurement time and global position data measured by the global position measuring device installed on the aircraft, and local data installed on the aircraft. A measurement value acquisition means for acquiring the measurement time measured by the position measuring instrument and the local position data of the measurement point of the object,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , Three-dimensional data generating means for generating data indicating the uneven shape of the object based on the pitch data, yaw data, local position data, and global position data,
In the three-dimensional model generation program with
The local position measuring device measures, in one measurement unit , local coordinates of a measurement point of an object over a measurement area having a predetermined length in a flight direction and a predetermined width perpendicular to the flight direction centered on the flying body, and adjacent to each other. The measurement area in the measurement unit that partially overlaps in the flight direction,
A three-dimensional model generation program, wherein the three-dimensional data generation means includes error correction means for correcting unevenness shape data of an adjacent measurement area adjacent to the target measurement area based on the unevenness data of the overlapping portion. The system, device or program according to any one of claims 6 to 8,
The error correction means is further based on unevenness shape data when a three-dimensional position installed in the vicinity of the target object is measuring a known reference plane, and a distance measuring device, a pitch measuring device, and a roll measuring device. A system, an apparatus or a program, which corrects an error of unevenness shape data due to the installation deviation of the predetermined angle. A roll measuring instrument that outputs the measurement time and the measured roll correspondence data, a pitch measuring instrument that outputs the measurement time and the measured pitch correspondence data, a yaw measuring instrument that outputs the measurement time and the measured yaw correspondence data, and a measurement time And a global position measuring device that outputs the measured global position data, and a local position measuring device that outputs the measurement position and the local position data of the measurement point of the object are carried out by flying over the object. A three-dimensional model generation method,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , A pitch data, yaw data, local position data, and global position data, in a three-dimensional model generation method for generating data indicating the uneven shape of the object,
The local position measuring device measures, in one measurement unit , local coordinates of a measurement point of an object over a measurement area having a predetermined length in a flight direction and a predetermined width perpendicular to the flight direction centered on the flying body, and adjacent to each other. The measurement area in the measurement unit that partially overlaps in the flight direction,
In the three-dimensional data generation, the three-dimensional model generation method is characterized in that the irregularity shape data of the adjacent measurement area adjacent to the target measurement area is corrected based on the irregularity data of the overlapping portion. While shifting the flight route perpendicular to the flight direction, a flying body that folds over the object in a straight line and flies,
A roll measuring instrument that is mounted on the aircraft and outputs the measured time and the measured roll-corresponding data,
A pitch measuring device which is mounted on the flying body and outputs measurement time and measured pitch corresponding data,
A yaw measuring device that is mounted on the aircraft and outputs the measurement time and the measured yaw correspondence data,
A global position measuring device that is mounted on the aircraft and outputs measured time and measured global position data,
A local position measuring device which is mounted on the aircraft and outputs local time data of a measuring time and a measuring point of an object,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , Three-dimensional data generating means for generating data indicating the uneven shape of the object based on the pitch data, yaw data, local position data, and global position data,
In a three-dimensional model generation system equipped with
The local position data is measured for each measurement point in an area having a width in the direction perpendicular to the flight direction,
A three-dimensional model generation system, wherein local position data of an area whose angle with respect to a flight route is closer to vertical is used in an overlapping portion of areas for distance value measurement by adjacent flight routes due to the folding back. While shifting the flight route perpendicular to the flight direction, the measurement time and roll corresponding data measured by the roll measuring instrument mounted on the flying body flying in a straight line over the target object and the data corresponding to the roll are installed on the flying body. The pitch corresponding data measured by the pitch measuring device, the measurement time and the yaw corresponding data measured by the yaw measuring device mounted on the flying body, and the global position measuring device mounted on the flying body were measured. Measurement time and global position data, and measurement value acquisition means for acquiring the measurement time measured by the local position measuring device mounted on the aircraft and the local position data of the measurement point of the object,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , Three-dimensional data generating means for generating data indicating the uneven shape of the object based on the pitch data, yaw data, local position data, and global position data,
In a three-dimensional model generation device equipped with
The local position data is measured for each measurement point in an area having a width in the direction perpendicular to the flight direction,
A three-dimensional model generation device, wherein local position data of an area whose angle to a flight route is closer to a vertical angle is used in an overlapping portion of areas where distance values are measured by flight routes adjacent to each other by folding back. A three-dimensional model generation program for realizing a three-dimensional model generation device by a computer,
While shifting the flight route perpendicular to the flight direction, the measurement time and roll corresponding data measured by the roll measuring instrument mounted on the flying body flying in a straight line over the target object and the data corresponding to the roll are mounted on the flying body. The pitch corresponding data measured by the pitch measuring device, the measurement time and the yaw corresponding data measured by the yaw measuring device mounted on the flying body, and the global position measuring device mounted on the flying body Measurement time and global position data, and measurement value acquisition means for acquiring the measurement time measured by the local position measuring device mounted on the aircraft and the local position data of the measurement point of the object,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , A three-dimensional model generation program for functioning as three-dimensional data generation means for generating data indicating the uneven shape of the object based on the pitch data, yaw data, local position data, and global position data,
The local position data is measured for each measurement point in an area having a width in the direction perpendicular to the flight direction,
A program for generating a three-dimensional model, wherein local position data of an area whose angle to a flight route is closer to vertical is used in an overlapping portion of areas for measuring distance values by adjacent flight routes by folding back. A roll measuring instrument that outputs the measurement time and the measured roll correspondence data, a pitch measuring instrument that outputs the measurement time and the measured pitch correspondence data, a yaw measuring instrument that outputs the measurement time and the measured yaw correspondence data, and a measurement time And a global position measuring device that outputs the measured global position data and a local position measuring device that outputs the measurement time and the local position data of the measurement point of the object are mounted on a flight route perpendicular to the flight direction. A three-dimensional model generation method in which the object is folded back in a straight line and flying while flying,
Roll data, pitch data, and yaw data can be used as roll data, pitch data, and yaw data as they are, or roll data, pitch data, and yaw data can be calculated based on roll data, pitch data, and yaw data. , A pitch data, yaw data, local position data, and global position data, a three-dimensional data generation method for generating data indicating the uneven shape of an object,
The local position data is measured for each measurement point in an area having a width in the direction perpendicular to the flight direction,
A method for generating a three-dimensional model, wherein local position data of an area whose angle to a flight route is closer to vertical is used in an overlapping portion of areas for distance value measurement by adjacent flight routes by folding back. The system, device or program according to any one of claims 1 to 4, 6 to 9 and 11 to 13,
The roll measuring instrument and the pitch measuring instrument are inertial measuring instruments,
The yaw measuring device is a position detector by a plurality of satellite positioning systems arranged in a polygonal shape on a plane horizontal to the flight surface of the air vehicle,
The system, device or program, wherein the global position measuring device is shared with the position detecting device by the plurality of satellite positioning systems. The system, apparatus or program according to any one of claims 1 to 4, 6 to 9, 11 to 13,
The local position measuring device is a laser measuring device that measures the position of each measurement point of the object over a predetermined length in the flight direction and a predetermined width perpendicular to the flight direction centered on the flying object. System, device or program. It is a measuring unit to be mounted on an aircraft to generate a three-dimensional model.
A roll measuring instrument that measures the roll of the flying object,
A pitch measuring device that measures the pitch of the flying object,
A laser scanner capable of detecting a local position over a predetermined width while rotating the measurement direction by 360 degrees, the laser scanner being arranged such that a rotation surface in the measurement direction is substantially perpendicular to an object.
Instrument unit equipped with. The measuring instrument unit according to claim 17, further comprising a position measuring instrument and a yaw measuring instrument in the measuring instrument unit.