JPH10300467A - Surveying system and surveying method using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the efficiency and accuracy of surveying. SOLUTION: A base station 2 and a mobile station 4 which determine position by receiving signals from GPS(global positioning system) satellites 8A-8D are provided, respectively, on the ground and on a searching ship 3 remotely controlled, and are communicated to each other by wireless transmitting/receiving devices 5A, 5B. The searching ship 3 is loaded with an echo sounder 6 and a computer 7, and the computer 7 is electrically connected to the mobile station 4 and the echo sounder 6. For surveying, as the searching ship 3 is made to travel within a predetermined surveying range in a lake 10, the computer 7 is made to store moving element position data, which is calculated from original position data detected by the mobile station 4 and from position correction data transferred from the base station 2 to the mobile station 4, in a storage medium together with data about measurements taken by the echo sounder 6, with the addition of time data to those data with the lapse of time, and after surveying is finished, the data collected are processed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying system and a surveying method using the surveying system, and more particularly to a surveying system for measuring the depth of a sea, a lake, a pond, a river, and the like, and a surveying method using the surveying system. Things.

[0002]

2. Description of the Related Art Generally, accumulation of data on topographical changes is indispensable in investigations of the state of sedimentation and erosion of coastal landforms, local scouring by structures, dam sanding, and the like. Conventionally, for bathymetry on the seabed, lake bottom, etc., an acoustic sounding device is mounted on a small ship, and a worker gets in and performs sounding with the sounding device, and at the same time, determines the position of the ship by transit or lightwave ranging. By ship or land. The sound sounder measures sound from the reciprocating time until the ultrasonic beam emitted from the ultrasonic transmitter is reflected on the water bottom and returns to the receiver, and is output to an analog recording paper. The water depth is read from this analog recording paper. In this way, the position (positioning) and the water depth (sounding) of the ship at the time of measurement are repeatedly measured while moving the ship, and a contour map or the like in a predetermined measurement range is charted.

[0003]

However, the above-mentioned conventional surveying system and the surveying method using the surveying system require a lot of manpower, cost, and time, and the preparation and the measurement work become large. . In addition, there is a problem that the operation is carried on the ship, which is affected by the weather and involves danger. In addition, in the measurement using a small vessel, the position of the small vessel is determined while moving along the measurement route. Therefore, it is difficult to accurately determine the position of the moving vessel using an optical method. . Also,
In the measurement by the laser tracking type light wave range finder, there is a problem that the position of the ship cannot be determined when the ship enters a range where visibility is difficult due to structures and terrain. Furthermore, since the sounding data is recorded in analog, there is a problem that the analysis processing is complicated and it takes time to obtain a result. In addition, it is necessary to prepare a ship of a predetermined size and workers can get on it, and bring the ship to a predetermined surveying place, and in a narrow place, the ship may not be able to enter. There is a problem that possible objects (locations) are limited. In addition, surveys of beach deformation and dam sedimentation require surveys of short-term topographic changes, such as those before and after a typhoon or flood, and high-precision bathymetric surveys are required. The system and the surveying method using the surveying system have a problem that high-precision measurement cannot be efficiently performed in a short time.

SUMMARY OF THE INVENTION The present invention has been made to eliminate the above problems, and can perform high-precision measurement with a simple configuration.
Moreover, it is an object of the present invention to provide a surveying system capable of efficiently collecting data in a short time and a surveying method using the surveying system.

[0005]

A surveying system according to the present invention is installed on the ground side, receives a signal transmitted from a satellite orbiting in a predetermined orbit, detects a position, and detects the position based on the installation position and the signal. A fixed-side position detecting means for outputting position correction data based on an error from the set position, a moving body moving in a predetermined measurement range based on a control command signal, and a signal from the satellite provided on the moving body. Receiving the position and detecting the position, communicating the fixed-side position detecting means and the moving-side position detecting means wirelessly, and transmitting the position correction data detected by the fixed-side position detecting means to the moving-side position detecting means. A position correction information transmitting means for transmitting to the moving object, a measuring means provided on the moving body for measuring a predetermined object to be measured, and the moving side position detecting means and the measuring means, electrically connected to the moving side position, The original position data detected based on the signal from the satellite by the output unit and the position correction data transferred from the fixed side position detection unit to the moving side position detection unit via the position correction information transmission unit are input. Based on the original position data and the position correction data, the position of the moving body is calculated at each predetermined time, and the calculated moving body position data at each predetermined time and the measuring means are measured a predetermined number of times during each of the predetermined times. And an arithmetic storage means for storing the measured data in correspondence with the time.

In the surveying system according to the present invention, when a predetermined object to be measured is measured by the measuring means while the moving body is moved in a predetermined measuring range by the control command signal, the moving-side position detection is performed in the arithmetic storage means. When the original position data from the means and the position correction data transferred from the fixed-side position detecting means via the position correction information transmitting means are input, the mobile unit is moved at predetermined times based on the original position data and the position correction data. Is calculated, and the moving body position data at every predetermined time is stored. The measurement data measured a predetermined number of times during each of the predetermined times by the measurement means is stored in the arithmetic storage means in correspondence with the predetermined time of the moving body position data. Therefore, the position of the moving body can be accurately determined, and when the moving body position data and the measurement data corresponding to the moving body position data are processed in time correspondence, the measurement corresponding to the position can be performed. Data can be obtained. For this reason, efficient and highly accurate data can be collected.

In a surveying method using a surveying system according to the present invention, a fixed-side position detecting means is provided on a ground side, and a moving-side position detecting means and a measuring means, a moving-side position detecting means and a measuring means are provided on a moving body. The means includes arithmetic storage means electrically connected to each other, and the fixed-side position detecting means and the moving-side position detecting means each include position correction information transmitting means for wirelessly communicating between the two position detecting means. The moving body is moved in a predetermined measurement range based on the control command signal, the position is detected by receiving a signal transmitted from a satellite orbiting a predetermined orbit by the fixed-side position detection means, and the installation position and The position correction data is output based on an error from the position detected from the signal, and the position correction data is transferred to the moving side position detecting means by the position correction information transmitting means. The signal from the satellite is received by the output means to detect the position of the moving body, and the detected original position data and the transferred position correction data are input to the operation storage means. The position of the moving body is calculated at predetermined times based on the position correction data, and the calculated moving body position data at each predetermined time is stored in the arithmetic storage means in association with the time, and the predetermined measured The target is measured a predetermined number of times during each of the above predetermined times, and the measured data is stored in the arithmetic storage means in association with the time, and the moving body position data and the moving body position data are stored in time while moving the moving body. The corresponding measurement data is repeatedly stored and collected.

In the surveying method using the surveying system according to the present invention, when a predetermined object to be measured is measured by the measuring means while the moving body is moved in a predetermined measuring range by the control command signal, the data is stored in the arithmetic storage means. When the original position data from the moving-side position detecting means and the position correction data transferred from the fixed-side position detecting means via the position correction information transmitting means are input, a predetermined value is determined based on the original position data and the position correcting data. The position of the moving body is calculated for each time, and the moving body position data for each predetermined time is stored corresponding to the time.
Further, when a predetermined measurement target is measured a predetermined number of times by the measuring means during each of the predetermined times, the measured data is stored in the arithmetic storage means in correspondence with the time. And
While moving the moving body, the moving body position data and the measurement data temporally corresponding to the moving body position data are repeatedly stored and collected, so that the desired measurement range can be set in a short time, with high precision and high precision. Can be measured.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing an outline of a survey system according to the present invention, and FIG. 2 is an explanatory diagram showing equipment of an exploration ship used in the survey system of FIG. As shown in FIG. 1, the surveying system according to the present invention measures the topography of the water bottom of a lake 10, and a base station (fixed-side position detection means) 2 installed on the ground side and a water surface of the lake 10. A self-propelled exploration ship (moving body) 3, a mobile station (moving-side position detection means) 4 mounted on the exploration ship 3, and a base station 2 and a mobile station 4 connected to these two stations 2, 4 respectively. Transmitting / receiving devices (position correction information transmitting means) 5A, 5B for communicating wirelessly
An acoustic sounder (measuring means) 6 provided on the exploration ship 3 for measuring the distance from the water surface to the water bottom; a mobile station 4 and an acoustic sounder 6
And a notebook personal computer (operation storage means) 7 electrically connected to the computer.

The base station 2 includes a plurality of Gs orbiting a predetermined orbit.
The GPS signals transmitted from the PS satellites 8A, 8B, 8C, 8D,... Are received at predetermined times t ₁ , t _2, ... T _n , and the positions are detected. and outputs to the outside by the wireless transmitting device 5A via the position correction data Pm _1, Pm _2, wireless modems 9A to · · · Pm _n based on the error between the position detected by the GPS signal. GPS system (Global Pos
itioning System) has four orbits in six orbits over an altitude of 20,000 km.
This is a system for obtaining three-dimensional position coordinates on the earth in real time using radio waves transmitted from a total of 24 artificial satellites. Also called a global positioning system, in the case of single positioning, a reception position is obtained by receiving radio waves from three or more satellites 8A, 8B, 8C,... And analyzing signals contained therein. . In this case, the obtained positional accuracy is about several tens to 100 m, and the accuracy is low. For this reason, as will be described later, the accuracy is improved by using two fixed-point and mobile-side GPS stations. Symbol 2A is
The GPS antenna of the base station 2.

The exploration ship 3 is composed of a small unmanned catamaran which can be disassembled as shown in FIGS. 3 and 4, and as shown in FIG. 2, the battery 12 and the remote control receiver 13 are electrically connected to each other. Connected propulsion motor 11
It has. The propulsion motor 11 is controlled according to a command signal from an external wireless remote control device 14 via a remote control receiver 13. That is, the exploration boat 3 is controlled in forward, reverse, speed, and steering in accordance with a command signal from the external wireless remote control device 14.

The mobile station 4 has a plurality of GPS satellites 8A, 8B, 8C, 8D,.
.. the GPS signals transmitted from predetermined times t ₁ , t _2.
..Receiving and detecting the position every t _n (Original position data P
₁ ... with P _n), the radio reception apparatus 5B wireless modem 9B (the above predetermined time t ₁ from the base station 2 via the see FIG. 2) from, t ₂ ... t _n corresponding to the position correction data Pm ₁ , Pm _2, ··· Pm _n is transferred. That is, the mobile station 4, GPS satellites 8A at a certain time t _1, 8B, 8
C, the original position data P ₁ detected based on the GPS signal from 8D, and the base station 2 detected at the time t ₁ and transferred from the base station 2 via the radio transceivers 5A and 5B and the wireless modem 9B. and input the position correction data Pm ₁ of the time t ₁ to the personal computer 7. Reference numeral 4A is a GPS antenna of the mobile station 4. The position of the exploration ship 3 is determined (positioned) by using the GPS of the base station 2 and the mobile station 4 to improve the accuracy. That is, if the position is determined only by the GPS signal, an error occurs because the accuracy of the GPS signal is low. Therefore, after the installation position of the base station 2 is determined, the position between the installation position and the position detected by the GPS signal by the base station 2 is determined. The difference is transferred to the mobile station 4 as position correction data, and the mobile station 4
, The position of the mobile station 4 detected by the GPS signal is corrected by the transferred position correction data.
Try to figure out the exact location of Such a system for determining the position of the mobile side using the GPS of the fixed side and the mobile side is hereinafter referred to as DGPS (Differential Global Posi
tioning System).

An acoustic sounder 6 measures an ultrasonic transmitter, an ultrasonic receiver, and a reciprocating time until an ultrasonic beam emitted from the ultrasonic transmitter is reflected on the water bottom and returns to the ultrasonic receiver. It consists of a measuring instrument, and measures the distance from the water surface to the water bottom based on the data of the measuring instrument. The sounding sounder 6 has predetermined measurement times T ₁ , T ₂ ,.
Measurement data D ₁ , D ₂ ,... D measured for each T _n
n is input to the personal computer 7 together with the data of the measurement times T ₁ , T ₂ ,..., T _n .

The personal computer 7 transmits the original position data P ₁ at a predetermined time t ₁ detected by the mobile station 4 based on the GPS signals from the GPS satellites 8A, 8B, 8C, 8D,. When the position correction data Pm ₁ at the predetermined time t ₁ transferred to the mobile station 4 via the wireless transmission / reception devices 5A and 5B is input, the original position data P ₁ and the position correction data Pm _{1 at the} predetermined time t ₁ are input. based on the bets, calculates the position of the survey vessel 3 at a predetermined time t _1, the ship position data at a predetermined time t ₁ calculated (mobile location data) floppy disk or hard disk Px ₁ together with data of a predetermined time t ₁ And the like. Then, in the storage medium of the personal computer 7, predetermined times t ₁ , t ₂ ,.
The original position data P ₁ , which is sequentially detected at every t _n ,
P _2, ··· P _n and the position correction data Pm _1, Pm _2, ···
On the basis of the Pm _n, the predetermined time _{t 1, t 2, ··· t} n
Position data P that calculated the position of the exploration ship 3 in the sea
x ₁ , Px ₂ ,... Px _n are at predetermined times t ₁ , t ₂ ,.
It is stored continuously with _n . In the present embodiment, the predetermined times t ₁ , t ₂ ,..., T _n are predetermined time intervals (for example, after one second has elapsed) after the clocks of the base station 2 and the mobile station 4 are set to the same time. Time data t for each
₁ , t ₂ ,... T _n are obtained.

The personal computer 7 has predetermined measurement times T ₁ , T ₂ ,.
Measurements were measured every _n data _{D 1, D 2, ··· D} n
Are input together with the data of the measurement times T ₁ , T ₂ ,..., T _n . Measurement time T ₁ , T ₂ , ...
T _n is a predetermined time interval (for example, three times or four times a second).
Measurement time data T _1, T ₂ for each round), thereby obtaining a · · · T _n. The storage medium of the personal computer 7, a predetermined time _{t 1, t 2, ··· t} n and the respective predetermined time _{t 1, t 2, ··· t} n for each of the ship position data P
x _1, Px _2, and ··· Px _n, measurement time T _1, T _2, ···
And T _n, measurement time T _1, T _2, measured data D ₁ of the per ··· T _n, D _2, and · · · D _n is continuously stored.

Next, a surveying method using the surveying system according to the present invention will be described based on the operation of the surveying system. First, the exploration ship 3 that has been disassembled and brought to the vicinity of the surveying place is assembled, and the mobile station 4, the radio receiver 5B, the sound sounding device 6, and the personal computer 7 are loaded on the exploration ship 3 respectively. At this time, before carrying to the surveying place, the exploration ship 3 may be assembled in advance, the devices 4, 5B, 6, and 7 may be set on the assembled surveying ship 3, and then may be carried to the surveying place. Also, base station 2
Is installed on the ground side near the lake 10 to be measured. The base station 2 may be installed at a place where the installation position is determined in advance, or after the installation, an accurate installation position may be calculated. Next, the exploration boat 3 on which the devices 4, 5B, 6, 7 are mounted is floated on the lake 10 to be surveyed. Then, the exploration ship 3 is moved by the radio remote control device 14 to a predetermined sounding range M.
(See FIG. 5), and the vehicle starts traveling along a predetermined route (see the traveling trajectory R of the exploration ship 3 in FIG. 6) within the sounding range M on the lake 10.

[0017] exploration vessel 3 begins to travel, the base station 2, the position correction data Pm _n obtained based on an error between position detected by predetermined installation position and the GPS signal, predetermined The signal is output by the wireless transmission device 5A via the wireless modem 9A at every predetermined time t _n .
Also, the mobile station 4 detects the original position data P _n by the GPS signal at every predetermined time t _n , and transfers the detected original position data P _n via the wireless devices 5A and 5B. position correction data Pm _n and respectively inputted to the personal computer 7. Personal computer 7
It is that it has received the original position data P _n position correction data Pm _n
Based on the bets, ship position for each predetermined time t _n data Px _n
To calculate the ship position data Px _n and its predetermined time t _n
Are continuously stored in a storage medium. Incidentally, when the survey vessel 3 start running, while the position of the survey vessel 3 is recorded together with the time, the distance from the water surface to the bottom of the water measured by the echo sounder 6, the measured measurement data D _n and the measurement time T
_n is continuously input to the personal computer 7 at predetermined time intervals.

[0018] The personal computer 7 of the storage medium, the predetermined times t _1, t _2, and · · · t _n, each predetermined time t ₁
, T ₂ ,..., T _n , ship position data Px ₁ , P
x ₂ ,... Px _n and measurement times T ₁ , T _{2 ,.}
If the measured time T _1, T _2, measured data D ₁ of the per ··· T _n, D _2, and · · · D _n is continuously stored. Therefore, by the data processing, the predetermined times t ₁ , t ₂ ,.
· T _n and the measurement time T _1, T _2, if over time in matching · · · T _n, ship position data _{Px 1, Px 2, ··· Px} n
Measurement data D _1, D ₂ which corresponds to, and is capable of obtaining a · · · D _n.

As described above, while the exploration ship 3 is traveling along the route R covering almost the whole area of the sounding range M by the radio remote control device 14, the personal computer 7 records the data while traveling. Is automatically automated with time, and the measurement data D _1-
Since D _n can be obtained, when the exploration ship 3 has traveled substantially the entire range of the sounding range M, the data collected from the storage medium of the personal computer 7 is processed to obtain a contour map as shown in FIG. A bird's-eye view computer graphics display as shown in FIG. 8 can be easily and quickly created. As described above, in the surveying system according to the present invention, the position of the exploration ship 3 at the time of measurement can be accurately determined, and measurement data corresponding to the position can be obtained. For this reason, efficient and highly accurate data can be collected. Further, in the surveying method using the surveying system according to the present invention, a desired measuring range M can be measured in a short time, in a fine and highly accurate manner.

[0020]

Next, the S dam in Niigata Prefecture was actually used by using the surveying method using the surveying system according to the above configuration (see FIG. 5).
The experimental result of the example in which the bathymetric survey was performed with is shown. (A) Experimental equipment (1) Base station 2 and mobile station 4: Trimble 4000DS receiver, mobile station 4
The company used a 4000RS receiver. The specific low power wireless modems 5A and 5B were used to transfer the position correction data from the base station 2 to the mobile station 4. Transfer speed is 4800 BP
S. In order to extend the data communication distance, a preamplifier is added to the receiving-side wireless modem 5B so that data can be transferred within a line-of-sight distance of 2 km. (2) Acoustic sounder 6: A precision sounder having digital output (PS-20R manufactured by Kaijo) was used. The frequency of the ultrasonic wave used was 200 KHz. The sounding accuracy is
It is ± (3 + depth / 1000) cm depending on the sediment condition. For example, it has an accuracy of ± 5 cm at a depth of 20 m and ± 7 cm at a depth of 40 m. The sounding range is 1 m to 200 m during digital measurement. (3) to the notebook personal computer 7 data acquisition: measurement data D _n corresponding to the ship position data Px _n and ship position data Px _n by the mobile station 4, two sets of RC
The data is taken into one notebook personal computer 7 via the -232C line and stored in a floppy disk or a hard disk. Positioning data Px _n is 1 times / sec, bathymetry data D _n is 3
Output at a rate of 4 times / sec. These are the time tags t _n , T
Stored with _n . Positioning data Px _n is outputted as the WGS84 coordinates from GPS, into a plane rectangular coordinate system in Japan are stored in a text format file.
Bathymetric data D _n also stored in the file sounding value in text format as well. Therefore, by combining the time tag t _n, positioning data to T _n the index Px _n and bathymetric data D _n, underwater coordinates (x, y, z) is continuously determined. (4) Manufacture of a self-propelled dedicated unmanned exploration vessel 3: As shown in FIGS. 3 and 4, a self-propelled exploration that is equipped with the above-mentioned measuring equipment 4, 5B, 6, and 7 and can be remotely controlled by radio. Ship developed. The main dimensions of the exploration ship 3 are a total length of 2850 mm, a maximum width of 1540 mm, and a displacement (maximum load) of 280 Kg. FIG. 2 shows equipment mounted on the exploration ship 3. Exploration Vessel 3 was a catamaran type in order to improve wave resistance and stability. The size has been increased to the extent that it can be loaded on a one-box type car. Glass reinforced plastic (G
FRP). The forward / reverse / turning direction of the exploration ship 3 is controlled by radio from the land by electric outboard motor (propulsion motor 1).
The control is performed by controlling the forward / reverse rotation of the screw, the number of rotations, and the propulsion direction in 1). A measuring device, a power supply unit, an antenna and the like are mounted on the catamaran 3 and a transducer for sounding is stored inside the ship. The exploration boat 3 can be disassembled so that it can be easily carried.

(B) Experimental Procedure (1) A bathymetric survey was actually performed at S Dam (see FIG. 5) in Niigata Prefecture. After carrying the equipment described in (1) to (4) above in a one-box type car and transporting it, the exploration ship 3
Was assembled, and the DGPS base station 2 was installed at the dam site. A bathymetric survey was performed in a range of approximately 400 × 400 m from the dam site. Figure 6 is shows a traveling locus R survey vessel 3 per second obtained from DGPS system, shows a survey course with bathymetric data D _n.

(C) Experimental Results (1) The time required for the exploration ship 3 to measure from the starting point to the end point of the traveling locus R is 5 hours, and the traveling distance of the exploration ship 3 is 1
It was 3000 m. After traveling, abnormal values such as sounding data were removed, and based on these, a contour map shown in FIG. 7 and a bird's-eye view shown in FIG. 8 were created. (2) The obtained lake bottom topography was judged to have sufficient accuracy compared with the known shape of the spillway apron and the water depth on the apron. In addition, the shape of the old embankment left at the time of dam construction was also measured.

(D) Conclusion In order to obtain a detailed topographical change such as undulations of the terrain, more water bottom coordinates are required. However, in the present invention, since the coordinates of the water bottom are continuously obtained, precise deep and shallow Surveying is possible. From the start of traveling, positioning data Px _n and sounding data D
_{Since n} is continuously stored in the notebook computer together with the time tags t _n and T _n , it is possible to easily perform an analysis operation such as a bird's eye view after the exploration boat 3 is collected. In addition, since the survey result can be examined in a short time, re-investigation and detailed investigation can be performed continuously. Furthermore, by comparing with existing (previous) topographical data, quantitative evaluation of erosion, sediment amount, local scouring state, water storage amount, and the like can be performed.

The sounding sounder 6 may be provided with a vertical control device for directing the sounding device 3 directly downward irrespective of the inclination of the exploration ship 3 to improve the accuracy. In addition, since the water level at the time of surveying is known for a dam or the like, the water level on the day of the survey is known, and if the obtained water depth is corrected by the water level at the time of surveying, an accurate elevation of the water bottom can be obtained. Furthermore, in the above configuration, the survey target is a lake or marsh, but the present invention is not limited to this. If the waves are small and the water surface is calm, the sea (inland sea, in the bay)
Can also be used as the surveying target. In that case, the data of the tide level fluctuation may be input to the personal computer 7 to correct the survey data. Furthermore, D to determine the position Px _n horizontal mobile station 2 by the mobile station 4 and base station 2 of the above
In the GPS system, the accuracy in the horizontal direction is improved. However, the present invention is not limited to this.
By improving the GPS signal detection accuracy of the mobile station 4, the position in the height direction as well as the horizontal direction can be determined. In that case, it is not necessary to post-process the correction of the water level, and the surveying work is made more efficient.

[0025] In the above configuration, although the positioning data Px _n and bathymetric data D _n are incorporated in the personal computer 7 survey vessel 3 side, feed these data Px _n, the D _n by the wireless modem to the base station 2 May be displayed on a monitor device to perform monitoring. In that case, the survey ship 3 can be steered while observing the trajectory R of the survey ship 3, and a more accurate survey can be performed without useless traveling.

Further, in the above embodiment, the exploration ship 3 is controlled by a command signal from the external wireless remote control device 14. However, the present invention is not limited to this. A traveling control device that controls traveling based on a control command signal may be provided to automatically travel. In this case, the data of the target traveling course R within the measurement range M is input to the computer 7 in advance.
Then, the computer 7, during running of the survey vessel 3, the ship position is calculated by comparing the data Px _n and the target travel course R, when the position of the survey vessel 3 is determined to be deviated from the target travel course R, The shift position is calculated, the traveling direction is corrected based on the shift position data, the exploration boat 3 is returned to the target traveling course R, and the exploration boat 3 travels substantially along the target traveling course R. . Therefore, Exploration Vessel 3
Can automatically run around the measurement range M and collect measurement data automatically without the need for remote control of the operator, so that the number of operators can be reduced.

In the above embodiment, the propulsion motor is set to 12
It consists of an electric motor connected to a V battery,
The present invention is not limited to this, and may be a propulsion motor driven by a gasoline engine. Further, in the above-described embodiment, the topography of the water bottom is measured. However, the present invention is not limited to this, and it goes without saying that the present invention can be applied to other measurement targets such as geology and water temperature. That is, not only the sounding sounder 6 but also a measuring device 26 (see FIG. 1) for bottom sediment exploration may be mounted on the exploration ship 3. Acoustic sounder 6
Uses ultrasonic waves with a frequency of 200 KHz, but the sediment exploration and measurement device 26 uses ultrasonic waves with a frequency of 2 to 12 KHz and high output to investigate the geology deeper than the water bottom. In addition, an electromagnetic wave or the like can be used instead of the ultrasonic wave, and it is possible to perform an electric survey or measure with an underground radar. Further, a plurality of water temperature sensors and salt concentration sensors can be attached in the vertical direction of the exploration ship 3 to obtain a three-dimensional distribution. Further, in the above embodiment,
The predetermined time t _n for detecting the ship position data Px _n a time interval of 1 second increments, and not although the time interval between the measurement time T _n by echo sounder 6 and 3 or 4 times / sec limited thereto Needless to say, they can be appropriately set according to the required accuracy.

[0028]

As described above, according to the surveying system of the present invention, a signal transmitted from a satellite installed on the ground and orbiting in a predetermined orbit is received, the position is detected, and the position of the installation is determined. A fixed-side position detection unit that outputs position correction data based on an error from a position detected from the signal,
A moving body that moves in a predetermined measurement range based on the control command signal, a moving-side position detecting means provided on the moving body and receiving a signal from the satellite to detect a position, and the fixed-side position detecting means A position correction information transmitting means for communicating with the side position detecting means by radio and transmitting position correction data detected by the fixed side position detecting means to the moving side position detecting means; and a predetermined measurement target provided on the moving body. Measuring means for measuring, the original position data and the fixed side position detecting means electrically connected to the moving side position detecting means and the measuring means and detected by the moving side position detecting means based on a signal from the satellite; The position correction data transferred to the moving-side position detection means via the position correction information transmission means is input from a predetermined time based on the original position data and the position correction data. Calculation of calculating the position of the moving object at predetermined times and storing the calculated moving object position data at each predetermined time and the measurement data measured a predetermined number of times during each of the predetermined times by the measuring means in association with the time. With the provision of the storage means, the position of the moving object at the time of measurement can be accurately determined, and measurement data corresponding to the position can be obtained. Therefore, there is an effect that data can be collected efficiently and with high accuracy.

According to the surveying system using the surveying system of the present invention, the fixed-side position detecting means is installed on the ground side, and the moving-side position detecting means and the measuring means, the moving-side position detecting means, Position correction information transmitting means for mounting arithmetic storage means electrically connected to the measuring means, and for wirelessly communicating between the fixed side position detecting means and the moving side position detecting means, respectively, between the two position detecting means. The moving body is moved in a predetermined measurement range based on the control command signal, and the position is detected by receiving a signal transmitted from a satellite orbiting a predetermined orbit by the fixed-side position detecting means, and The position correction data is output based on the error between the position correction data and the position detected from the signal, and the position correction data is transferred to the movement side position detection means by the position correction information transmitting means. The signal from the satellite is received by the position detecting means to detect the position of the moving object, and the detected original position data and the transferred position correction data are input to the operation storage means, and the original position data is received by the operation storage means. And calculating the position of the moving body at predetermined times based on the position correction data, storing the calculated moving body position data at predetermined times corresponding to the time in the arithmetic storage means, and measuring the predetermined position by the measuring means. The object to be measured is measured a predetermined number of times during each of the above predetermined times, the measured data is stored in the arithmetic storage means in association with the time, and the moving body is moved while moving the moving body. Since the measurement data corresponding to the time is repeatedly stored and collected, the ship position data and the ship position data are moved while moving the moving body. Since each have collected temporally respectively were repeated stored with the corresponding measurement data, there is an effect that can be measured finely and accurately in a short time a desired measurement range.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a configuration of a survey system according to the present invention.

FIG. 2 is an explanatory view showing equipment of a survey boat used in the surveying system of FIG. 1;

FIG. 3 is a plan view of the exploration ship of FIG. 1;

FIG. 4 is a front view of the exploration boat of FIG. 1;

FIG. 5 is a map of a surveying place where an experiment was performed using the surveying system of FIG. 1;

FIG. 6 is an explanatory diagram showing a traveling locus of an exploration ship.

FIG. 7 is a contour map created by performing data processing on a survey result of an experiment performed using the survey system of FIG. 1;

FIG. 8 is a bird's-eye view created by performing data processing on a survey result of an experiment performed using the survey system of FIG. 1;

[Explanation of symbols]

2 Base station (fixed-side position detecting means) 3 Exploration ship (mobile) 4 Mobile station (moving-side position detecting means) 5A Radio transmitting device (position correction information transmitting means) 5B Radio receiving device (position correction information transmitting means) 6 echo sounder (measuring means) 7 personal computer (computing storage means) 8A-8D GPS satellites (satellite) M measurement range D ₁ to D _n measurement data P ₁ to P _n situ data Pm ₁ Pm _n position correction data Px ₁ -PX _n ship position data (mobile location data) t ₁ ~t _n predetermined time

Claims (8)

[Claims] 1. A method of detecting a position by receiving a signal transmitted from a satellite orbiting on a predetermined orbit and detecting a position, and detecting position correction data based on an error between the installation position and the position detected from the signal. Fixed-side position detecting means for outputting
A moving body that moves in a predetermined measurement range based on the control command signal, a moving-side position detecting means provided on the moving body and receiving a signal from the satellite to detect a position, and the fixed-side position detecting means A position correction information transmitting means for communicating with the side position detecting means by radio and transmitting position correction data detected by the fixed side position detecting means to the moving side position detecting means; and a predetermined measurement target provided on the moving body. Measuring means for measuring, the original position data and the fixed side position detecting means electrically connected to the moving side position detecting means and the measuring means and detected by the moving side position detecting means based on a signal from the satellite; The position correction data transferred to the moving-side position detection means via the position correction information transmission means is input from a predetermined time based on the original position data and the position correction data. Arithmetically storing the calculated position of the moving object at each predetermined time and the calculated moving object position data at each predetermined time and the measurement data measured a predetermined number of times during each of the predetermined times by the measuring means in correspondence with the time; And a surveying system. 2. A method for receiving a signal transmitted from a GPS satellite orbiting a predetermined orbit and detecting the position, and correcting the position based on an error between the installation position and the position detected from the signal. A base station that outputs data, a ship that runs in a predetermined measurement range based on a control command signal, a mobile station that is provided on the ship and receives a signal from the satellite to detect the position, and a base station that detects the position. A wireless transmission device for wirelessly transmitting the corrected position correction data to the mobile station, a measurement device provided on the ship for measuring a predetermined object to be measured, and the mobile station and the measurement device electrically connected to the mobile station, The original position data detected by the station based on the signal from the satellite and the position correction data transferred from the base station to the mobile station via the wireless transmission device are input, and the original position data and The position of the ship is calculated for each predetermined time based on the position correction data, and the calculated ship position data for each predetermined time and the measurement data measured a predetermined number of times during each of the predetermined times by the measuring device are respectively timed. And a computer that stores the data in a storage medium in correspondence with the above. 3. The surveying system according to claim 2, wherein the ship is remotely controlled from outside. 4. A predetermined target travel course is input to the computer, and the boat is provided with a travel control device for controlling travel based on a control command signal from the computer. The computer compares the target traveling course with the calculated ship position data. If the position of the ship deviates from the target traveling course, the amount of deviation is calculated, the traveling direction is corrected based on the data of the deviation amount, and the ship is moved to the target. 3. The surveying system according to claim 2, wherein the survey system is returned to the traveling course, and the vessel travels along the target traveling course. 5. The surveying system according to claim 3, wherein the ship is constituted by an unmanned catamaran which can be disassembled. 6. The calculated ship position data provided on each of the base station side and the mobile station side, or both data of the ship position data and the measurement data corresponding to the ship position data are transmitted to the base station. 3. The surveying system according to claim 2, further comprising a wireless transmission device for transferring the data, and a monitor device provided on the base station side and displaying the data transferred via the wireless transmission device. . 7. The surveying system according to claim 2, wherein the measuring device comprises an acoustic sounding device that measures a distance from a water surface to a water bottom. 8. A fixed position detecting means is installed on the ground side,
The moving body is provided with moving-side position detecting means and measuring means, and arithmetic storage means electrically connected to the moving-side position detecting means and measuring means, respectively, and the fixed-side position detecting means, moving-side position detecting means, Are respectively provided with position correction information transmitting means for wirelessly communicating between these two position detecting means, moving the movable body in a predetermined measuring range based on a control command signal, and moving on a predetermined track by a fixed side position detecting means. Receiving a signal transmitted from a satellite orbiting the satellite, detecting the position, outputting position correction data based on an error between the installation position and the position detected from the signal, and transmitting the position correction data to a position correction information transmitting means. The mobile side position detecting means receives the signal from the satellite by the mobile side position detecting means, detects the position of the mobile body, and detects the detected original position data and the transferred data. The calculated position correction data is input to the operation storage means, and the operation storage means calculates the position of the moving object at predetermined times based on the original position data and the position correction data, and calculates the calculated moving object position data at each predetermined time. Is stored in the arithmetic storage means in correspondence with the time, the predetermined measurement object is measured by the measuring means a predetermined number of times during each of the above-mentioned predetermined times, and the measured data is stored in the arithmetic storage means in correspondence with the time. A surveying method using a surveying system, comprising storing and collecting repeatedly moving object position data and measurement data temporally corresponding to the moving object position data while moving the moving object.