KR101030067B1 - Azimuth Measurement Device and Method for Producing the Map Information Panorama - Google Patents

Abstract

The present invention relates to an azimuth measuring device for producing a geographic information panorama, an object of the present invention is not affected by the appearance of a structure affecting the magnetic field does not disturb the measured value, and moves each area It is to provide an azimuth measuring device for the production of geographic information panorama photograph that can collect the exact azimuth angle because the error does not accumulate even if the azimuth is continuously calculated.

The azimuth measuring device according to the present invention is a device for performing the correction of the geomagnetic sensor and the angular velocity sensor and a sensor board configured to enable a 360 ° rotation operation, mounted on the sensor board, and detects the earth's magnetism to output azimuth information A geomagnetic sensor mounted on the sensor board, an angular velocity sensor that measures the angular velocity of a rotating object and outputs angular velocity information, and calculates an azimuth angle based on arithmetic processing based on angular velocity information and azimuth information from the geomagnetic sensor and angular velocity sensor. It is characterized by including a calculation module for calculating.

Geo, panorama, azimuth

Description

Azimuth Measurement Device and Method for Producing the Map Information Panorama}

The present invention relates to an azimuth measuring device for producing a geographic information panorama, and more specifically, to a precise azimuth angle in an image frame obtained every moment from a plurality of cameras installed in a vehicle (motor), such as a vehicle (Motorcycle) The present invention relates to an azimuth measuring device for producing geographic information panoramic photographs and a method thereof.

With the development of wired and wireless communication, the development and expansion of electronic information terminals such as computers, navigators and mobile phones are increasing. Accordingly, a user who wants to obtain geographic information of a specific area can easily receive any information related to the corresponding area such as a road, a terrain, or a feature by accessing the terminal. However, since the conventional geographic information providing service is implemented and displayed in 2D, it was impossible for the user to visually accurately recognize the terrain and features related to the corresponding area.

In order to overcome the above problems, recently, a panoramic photo geographic information providing service for displaying a real picture of a corresponding area on an electronic map has been developed and attempted to visually recognize a road, a terrain, and a feature.

In order to implement the geographic information providing service using the above-mentioned panorama picture, basically, a photo shooting work, a photo connection work, and a location information providing work are required.

Photo-taking and photo-linking work refers to a process of acquiring image frames through the divisional shooting of terrain, features, and roads by moving each region using a plurality of cameras installed in a vehicle.

Photo linking refers to a process of editing a plurality of image frames acquired through a photo shooting process while connecting them as panorama photos in the order of being located along the roadside. Each panorama picture configured through the picture connection operation can be mapped to a digital map that can be connected with a GPS code, thereby providing location information of an actual image.

The location information assignment operation refers to a process of assigning location information such as coordinate values of a corresponding picture by allowing each image frame obtained through a picture taking job to be linked to a global positioning system (GPS). That is, the location information is given to each picture taken every moment, and the azimuth information must be recorded in addition to the coordinate value information using the above-described GPS.

In the position information, a common method of obtaining azimuth information is to collect azimuth information using a geomagnetic sensor. Geomagnetic sensor is a device that detects the earth's magnetism and outputs the azimuth angle. Looking at how to collect azimuth information using such a geomagnetic sensor, first, the geomagnetic sensor is driven, and then the voltage value induced by the geomagnetic sensor is measured. From this, the azimuth angle at each point is measured.

However, the following problem occurs when measuring the azimuth using only a geomagnetic sensor. In other words, if the geomagnetic sensor is installed in a vehicle such as a vehicle, and the vehicle moves along the road, and the azimuth angle is measured, the geomagnetic sensor may be affected if the vehicle passes or the metal structure is near. There was a problem that the incorrectly measured azimuth was matched to the panorama.

Another way to acquire azimuth information when shooting geospatial panoramas is to collect azimuth information using an angular velocity sensor.

However, if the azimuth is collected by moving each point using the angular velocity sensor, as the error is continuously accumulated in the integration operation for calculating the azimuth, the error of the azimuth angle calculated as the measurement time increases also increases. There was a problem.

The present invention has been made to solve the above problems, the object of the present invention is not affected by the appearance of a structure affecting the magnetic field is not disturbed by the measured value, moving each area and continue to azimuth It is to provide an azimuth measuring device and method for the production of geographic information panorama photograph that can collect the correct azimuth angle because the error does not accumulate even if the operation is calculated.

The azimuth measuring device for producing a geographic information panoramic picture according to the present invention for achieving the above object is a device for installing a camera on a moving means including a vehicle, and collecting the azimuth matching the photographed picture obtained from the camera As a device for performing the calibration of the geomagnetic sensor and the angular velocity sensor as a sensor board configured to enable a 360 ° rotation operation; A geomagnetic sensor mounted on the sensor board and configured to detect magnetism of the earth and output azimuth information; An angular velocity sensor mounted on the sensor board and measuring angular velocity of a rotating object and outputting angular velocity information; Counting means for counting whether the 360 ° rotation of the sensor board and the required time; And a calculation module for calculating an azimuth angle of each photographing point through a calculation process based on information input from the geomagnetic sensor, the angular velocity sensor, and the counting means,

The calculation module is configured to calculate a correction value for correcting the deviation of each device of the angular velocity sensor by using the angular velocity sensor and the counting means, and integrates the angular velocity received from the angular velocity sensor and corrects the angular velocity sensor. Calculates the azimuth angle of the current photographing point by using a value and the azimuth angle synchronized at the previous photographing point, and compares the calculated azimuth of the current photographing point with the azimuth angle input from the geomagnetic sensor at the current photographing point. If the condition is satisfied, it is characterized in that for performing a process of synchronizing the azimuth angle of the current photographing point to the azimuth angle input from the geomagnetic sensor.

According to the azimuth measuring device and method using the geomagnetic sensor and the angular velocity sensor according to the present invention, through the azimuth measuring method using the angular velocity sensor and the geomagnetic sensor organically, the structure affecting the magnetic field around the geomagnetic sensor appears to be measured incorrectly By eliminating the problem of matching the corresponding panorama picture and the problem of incorrect azimuth calculated as the error is accumulated when collecting azimuth information through the angular velocity sensor, the operator can continuously collect the correct azimuth while moving each area. There is a significant effect.

1 is a block diagram illustrating a system configuration of an azimuth measuring device for producing a geographic information panoramic photo according to the present invention.

An azimuth measuring device for producing a geographic information panorama according to the present invention is to give an accurate azimuth angle to an image frame obtained every moment from a plurality of cameras 10 installed on a vehicle (motor), such as a vehicle, a motorcycle. System configuration and operation module 100 is presented.

The azimuth measuring device according to the present invention basically collects azimuth information through an integral operation of the angular velocity information output from the angular velocity sensor 120, and an effective azimuth angle from which the cumulative error is removed through synchronization processing by the geomagnetic sensor 110. It is possible to match the correct azimuth angle to the image frame obtained in each shooting area.

That is, through the azimuth measurement method using the angular velocity sensor 120 and the geomagnetic sensor 110 organically, a structure affecting the magnetic field appears around the geomagnetic sensor 110, so that the incorrectly measured azimuth is matched to the corresponding panoramic picture. By eliminating the problem, and at the same time eliminating the problem that the wrong azimuth is calculated as the error is accumulated when collecting azimuth information through the angular velocity sensor 120, the operator can continue to collect the strength to continue to collect the correct azimuth matching the panorama picture to provide.

The azimuth measuring device of the present invention includes an angular velocity sensor 120 that measures angular velocity of a rotating object (eg, a vehicle) and outputs angular velocity information, a geomagnetic sensor 110 that detects magnetism of the earth and outputs azimuth angle information; A sensor board 140 on which the angular velocity sensor 120 and the geomagnetic sensor 110 are mounted, a rotating device configured to mount the sensor board 140 in a vehicle, and to be capable of 360 ° rotation, and the angular velocity sensor ( 120 and a calculation module 100 for calculating an effective azimuth angle of each photographing area through a calculation process using information output from the geomagnetic sensor 110.

Prior to the description, the " effective azimuth " is an azimuth angle that is matched to an image frame obtained every moment when the target region is photographed, and represents the actual position information of the corresponding image, and is finally calculated through the calculation module 100 of the present invention. The azimuth angle from which the cumulative error of the angular velocity sensor 120 is removed through the repeated execution of the synchronization process using the sensor 110 is referred to.

Hereinafter, an azimuth measuring device for producing a geographic information panoramic photograph according to the present invention will be described in detail with reference to FIG. 1.

The angular velocity sensor 120 and the geomagnetic sensor 110 of the present invention correspond to a means for detecting the information necessary for calculating the effective azimuth, and are installed together with a vehicle equipped with photographing equipment for producing a panoramic photo to move the vehicle. The angular velocity information and the azimuth information which change accordingly are detected and provided to the calculation module 100.

Specifically, the angular velocity sensor 120 of the present invention detects the angular velocity generated during the rotational movement of the moving vehicle and outputs it as an analog signal. The analog signal containing the angular velocity information for the generated rotation is converted into a digital signal through an analog-to-digital converter (A / D converter) is input to the calculation module 100.

The geomagnetic sensor 110 of the present invention corresponds to a means for compensating for a cumulative error generated by collecting an azimuth angle through an integral operation of the angular velocity sensor 120, and the geomagnetic sensor 110 is an angular velocity sensor. Similar to 120, the azimuth information is installed in the vehicle and detects the azimuth information that changes according to the rotation of the vehicle, and outputs the analog signal. Converter is converted into a digital signal and input to the calculation module (100).

In addition, the angular velocity sensor 120 and the geomagnetic sensor 110 is installed on the sensor board 140 configured to be rotatable, and the sensor board 140 is rotated 360 ° to calibrate the geomagnetic sensor 110. Corresponds to an apparatus for executing calibration and calculating a correction value of the angular velocity sensor 120.

Calibration of the geomagnetic sensor 110 is to correct the geomagnetic sensor 110 to accurately detect an azimuth angle by rotating the geomagnetic sensor 110 360 degrees in an area where a panoramic picture is to be taken. A 360 ° rotation operation for the correction of the geomagnetic sensor 110 described above is performed through the sensor board 140 of the rotating device.

The calculation of the correction value of the angular velocity sensor 120 refers to an operation for correcting an error for each equipment generated according to the production deviation and the operating environment of the angular velocity sensor 120. The correction value calculated through the correction operation is an angular velocity sensor It is very unique. The correction value calculation method using the sensor board 140 will be described in detail below.

In addition, the sensor board 140 of the present invention further comprises a counting means for counting whether the 360 ° rotation of the sensor board 140 and the required time, the counting means is preferably configured as a photo coupler 130. .

The photo coupler 130 is a device for checking whether the sensor board 140 is accurately rotated 360 °. The photo coupler 130 is basically composed of a light emitting element and a light receiving element, and transmits a signal through light. Count the 360 ° rotation. The photocoupler is a well-known technique and will not be described in detail.

Hereinafter, the calculation processing operation performed by the calculation module 100 of the present invention to calculate the above-described effective azimuth angle will be described.

(1) Calculation for calculating the angular velocity sensor correction value

By rotating the sensor board 140 by 360 °, the angular velocity of the sensor board 140 is calculated through the angular velocity sensor 120 mounted on the sensor board 140, and the first rotation of the sensor board 140 is performed. The calculation of the angular velocity of the sensor board 140 is performed using the time required for 360 °.

The counting of one rotation counting and one rotation of the sensor board 140 may be achieved through the photo coupler 130.

(2) Calculation for azimuth calculation based on angular velocity sensor

The azimuth angle of the vehicle using the angular velocity sensor correction value obtained through the one-turn operation of the sensor board 140 and the angular velocity information received from the angular velocity sensor 120 installed in the vehicle when the moving means such as the vehicle rotates. Calculate the amount of change and calculate the azimuth at that point.

Hereinafter, the azimuth calculated using the angular velocity information received from the angular velocity sensor 120 as described above will be referred to as "angular velocity sensor azimuth angle".

(3) Comparing angular velocity sensor azimuth and geomagnetic sensor azimuth.

The calculation is performed by comparing the angular velocity sensor azimuth calculated through the above-described calculation operation with azimuth information (hereinafter referred to as geomagnetic sensor azimuth) received from the geomagnetic sensor 110 installed in the vehicle.

(4) Synchronization of the angular velocity sensor azimuth

Comparing the angular velocity sensor azimuth angle with the geomagnetic sensor azimuth angle and if the two azimuth angles coincide with each other, performing a process of synchronizing the azimuth angle calculated by the angular velocity sensor 120 to the azimuth angle calculated by the geomagnetic sensor; The synchronized azimuth is set as the reference azimuth.

The azimuth information calculated through the arithmetic processing operation of the arithmetic module 100 as described above is transmitted to a map information matching unit, and the map information matching unit is azimuth to an image frame obtained every moment from the camera 10 mounted on the vehicle. By matching and storing the operator can collect the azimuth information corresponding to each picture taken.

Figure 4 is an exploded perspective view showing an embodiment of the rotating device of the present invention.

The rotating device of the present invention executes the rotation operation of the geomagnetic sensor 110, the angular velocity sensor and the sensor board 140 is equipped with a photocoupler, the sensor board 140 is configured to be stably mounted on the vehicle Should be.

As described above, referring to FIG. 4, the rotation apparatus according to the embodiment of the present invention basically includes a sensor board 140 equipped with a geomagnetic sensor 110, an angular velocity sensor, and a photocoupler, and the sensor board 140. Rotation top plate 210 and the rotary bottom plate 215 coupled to the rotary top plate 210 and the lower plate support 220 for connecting the rotary upper / lower plate and the rotary rod 230 to implement the rotation operation of the; It is configured to include a rotary rod 230 for inducing the rotation of the sensor board 140 through the rotation of the lower support 220, and a drive motor 240 for generating the rotation of the rotary rod 230.

In addition, the rotary rod 230 is further provided with an attortor 250 between the rotary rod 230 and the drive motor 240 so that it can be stably connected to the drive motor 240, the drive motor 240 is inside The lower case 260 and the lower case 260 are configured to be fixedly coupled to the base substrate 270 that is substantially attached to the vehicle, thereby stably mounting the rotating device of the present invention to the vehicle. And, it is possible to generate a rotation operation of the sensor board 140.

In addition, the sensor board 140 is preferably further provided with a sensor board support 280 between the sensor board 140 and the rotary top plate to be stably coupled to the rotary top plate 210 to rotate. The sensor board 140 may be configured to be wrapped in the side protective cap 290 and the upper protective cap 295 which are empty inside, so that the sensor board 140 may be protected from the external environment.

It will be apparent to those skilled in the art that the rotating device described and illustrated in the above corresponds to one preferred embodiment and thus can be variously assembled and designed in a range capable of achieving the above-described object.

2 is a block flow diagram illustrating a flow of calculating an azimuth angle through an azimuth measuring device according to the present invention, and FIG. 3 is a block flowchart illustrating a specific method of calculating an azimuth angle of a current photographing point using an angular velocity sensor.

Hereinafter, a method of calculating an effective azimuth angle of each region through the azimuth measuring device according to the present invention will be described in detail with reference to FIGS. 2 and 3.

(1) angular velocity sensor correction value calculating step (S10)

After rotating the sensor board by 360 °, the angular velocity of the sensor board is calculated through the angular velocity sensor mounted on the sensor board, and the angular velocity of the sensor board is measured using the time required for one rotation (360 °) of the sensor board. Perform the calculation operation.

First, the method for calculating the angular velocity of the sensor board through the angular velocity sensor mounted on the sensor board sums the angular velocity values read by the angular velocity sensor during one revolution of the sensor board, and then divides the number by the number of angular velocity values used in the summation. Calculate by giving.

Next, the method for calculating the angular velocity of the sensor board using the time required for one rotation (360 °) of the sensor board is to determine whether the sensor board rotates and whether the sensor board rotates once using the photo coupler mounted on the sensor board. After measuring the time required, it is calculated by dividing the angle corresponding to one revolution (ie, 360 °) by the required time.

The angular velocity sensor correction value is a value obtained by dividing the angular velocity of the sensor board calculated by the angular velocity sensor by the angular velocity of the sensor board, which is calculated by measuring the rotation time. Used as an eigenvalue.

(2) Step of calculating azimuth change amount through angular velocity sensor

When the vehicle moving along the roadside rotates, the azimuth angle corresponding to each picture obtained from the camera 10 mounted on the vehicle also changes.

The azimuth angle calculation step using the angular velocity sensor calculates an azimuth angle that changes according to the rotational movement of the vehicle as described above, and calculates an effective azimuth angle of the current photographing point using the angular velocity information and the reference azimuth angle output from the angular velocity sensor.

The "reference azimuth angle" refers to an effective azimuth angle secured by the azimuth measuring device and method of the present invention at a point before the current photographing point, which will be described in detail below.

In order to calculate the effective azimuth of the current photographing point by using the angular velocity sensor and the reference azimuth, first, calculating a rotation angle of the vehicle, that is, an azimuth change amount using the angular velocity information measured by the angular velocity sensor when the rotation of the vehicle occurs; S21) is required.

The rotation angle (azimuth angle change amount) may be calculated through an integral calculation of the angular velocity measured when the rotation motion occurs. However, since the angular velocity sensor has some deviation for each equipment, the azimuth change amount calculated by the specific angular velocity sensor installed in the vehicle needs to be corrected in consideration of the deviation of the angular velocity sensor.

The correction of the azimuth change amount is performed through the above-described angular velocity sensor correction value. That is, when the azimuth change amount calculated by the angular velocity sensor is divided by the angular velocity sensor correction value (S22), the azimuth change amount from which the deviation of the used angular velocity sensor equipment is removed can be obtained. This is referred to as "effective azimuth change amount".

Hereinafter, a method of acquiring an effective azimuth corresponding to the actual azimuth of the current photographing point using the effective azimuth change and the reference azimuth calculated through the above-described process will be described.

In order to obtain an effective azimuth that matches the photographed image of the spot, first, the above-described angular velocity sensor azimuth is calculated and then compared with the geomagnetic sensor azimuth.

(3) angular velocity sensor azimuth calculation step (S20)

The angular velocity sensor azimuth is the azimuth of the current photographing point calculated using the angular velocity information received from the angular velocity sensor. Specifically, the angular velocity sensor azimuth is calculated by adding or subtracting the above-described effective azimuth change amount to the reference azimuth obtained from the previous point (S23). .

(4) comparison operation (S30) and synchronization (S40) step

In the photographing point corresponding to the specific angular velocity sensor azimuth calculated through the above-described process, the calculation module 100 of the present invention also receives geomagnetic sensor azimuth information about the photographing point.

The comparison operation and the synchronizing step of the present invention refers to a process of synchronizing the angular velocity sensor azimuth calculated from a geomagnetic sensor with the geomagnetic sensor azimuth measured from a geomagnetic sensor, and then synchronizing the angular velocity sensor azimuth with the geomagnetic sensor azimuth.

Specifically, by comparing the azimuth angle calculated by the angular velocity sensor and the azimuth angle detected by the geomagnetic sensor, it is determined whether a predetermined condition is satisfied, and if the predetermined condition is satisfied, it is determined as an effective azimuth angle. Is synchronized to the geomagnetic sensor azimuth.

The synchronized azimuth is used as the effective azimuth with respect to the current photographing point, and at the same time, is reset to the reference azimuth necessary for calculating the above-described angular velocity sensor azimuth.

That is, when the azimuth angle of which synchronization is completed by satisfying the predetermined condition is an effective azimuth angle to be matched with the photograph taken at the current point, and at the same time, the angular velocity sensor azimuth angle is calculated at the next shooting point (that is, the point where the azimuth angle is changed due to the rotation of the vehicle). It is reset to the required reference azimuth.

In addition, the "predetermined condition" refers to the case where the angular velocity sensor azimuth angle and the geomagnetic sensor azimuth angle coincide, and the "matching case" means that the angular velocity sensor azimuth angle and the geomagnetic sensor azimuth angle are below a decimal point. This includes the case where the angular velocity sensor azimuth and the geomagnetic sensor azimuth coincide within a deviation allowable range (for example, ± 0.05) set by the operator.

If, as a result of the comparison operation, the angular velocity sensor azimuth angle and the geomagnetic sensor azimuth angle do not satisfy the predetermined condition, the process proceeds as follows.

If the two azimuth angles do not satisfy the predetermined condition, a structure or the like affecting the magnetic field appears at the current photographing point, indicating that the magnetic sensor malfunctions and outputs an incorrect azimuth angle.

Therefore, in the case described above, the calculation module 100 repeats the comparison operation process again to check whether the two azimuths coincide again, and the geomagnetic sensor operates correctly out of the influence of the structure so that the two azimuths If it is confirmed that this coincides, the synchronization operation described above can finally secure the reference azimuth and the effective azimuth.

As described above, the azimuth measuring device according to the present invention receives angular velocity information and azimuth information from an angular velocity sensor and a geomagnetic sensor installed in a moving vehicle for photographing, and compares the angular velocity sensor azimuth and geomagnetic sensor azimuth calculated based on the same. It is possible to collect azimuths that are precisely matched to each photograph by performing the calculation and synchronization, and repeatedly performing the above operation whenever a change in the azimuth angle occurs due to the movement and rotation of the vehicle.

In the above, although the preferred embodiment of the present invention has been described and illustrated, it is obvious that various changes and changes can be made without departing from the spirit and scope of the following claims. Such modified embodiments should not be understood individually from the spirit and scope of the present invention, but should fall within the claims appended to the present invention.

1 is a block diagram illustrating a system configuration of an azimuth measuring device for producing a geographic information panoramic photo according to the present invention.

Figure 2 is a block flow diagram illustrating a flow of calculating the azimuth angle through the azimuth measuring device according to the present invention.

3 is a block flow diagram illustrating a specific method of calculating an azimuth angle of a current photographing point using an angular velocity sensor.

Figure 4 is an exploded perspective view showing one embodiment of a rotating device of the present invention.

Claims (7)

An apparatus for installing a camera on a moving means including a vehicle, and collecting an azimuth angle matching the photographed picture obtained from the camera, An apparatus for performing calibration of a geomagnetic sensor and an angular velocity sensor, comprising: a sensor board configured to enable a 360 ° rotation operation; A geomagnetic sensor mounted on the sensor board and configured to detect magnetism of the earth and output azimuth information; An angular velocity sensor mounted on the sensor board and measuring angular velocity of a rotating object and outputting angular velocity information; Counting means for counting whether the 360 ° rotation of the sensor board and the required time; And Comprising a calculation module for calculating the azimuth angle of each shooting point through a calculation process based on the information input from the geomagnetic sensor, the angular velocity sensor and the counting means, The calculation module, Using the angular velocity sensor and the counting means, calculating a correction value for correcting a measurement error that may occur when measuring the angular velocity of the angular velocity sensor; Calculating the azimuth angle of the current photographing point by using the integral operation of the angular velocity received from the angular velocity sensor, the angular velocity sensor correction value, and the azimuth angle synchronized from the previous photographing point, Comparing the calculated azimuth angle of the current photographing point with the azimuth angle input from the geomagnetic sensor at the current photographing point to satisfy a predetermined condition, and synchronizing the azimuth angle of the current photographing point to the azimuth angle input from the geomagnetic sensor; Performing, The predetermined condition is And the azimuth angle calculated by the angular velocity sensor and the azimuth angle input from the geomagnetic sensor coincide with each other within a deviation allowable range set by an operator. delete The method of claim 1, The counting means is azimuth measuring device for the production of geographic information panorama picture, characterized in that consisting of a photocoupler. As a method for collecting an azimuth angle matching a photograph taken from a camera of a vehicle using a geomagnetic sensor and an angular velocity sensor installed in a vehicle including a vehicle, A first step of calculating an azimuth change amount of the moving means using the angular velocity information measured from the angular velocity sensor at the current photographing point; A second step of calculating an azimuth angle at the current photographing point by subtracting or subtracting the azimuth change amount calculated through the first step from a reference azimuth angle secured at the previous photographing point; A third step of comparing the azimuth angle calculated in the second step with the azimuth angle detected from the geomagnetic sensor at the current point; When the azimuth angle calculated by the angular velocity sensor and the azimuth angle detected by the geomagnetic sensor satisfy a predetermined condition as a result of the comparison in the third step, the azimuth angle calculated by the angular velocity sensor is detected from the geomagnetic sensor by determining that it is a valid azimuth angle. A fourth step of synchronizing to the obtained azimuth; And Resetting the synchronized azimuth angle to a new reference azimuth angle, and when the moving means moves from the current photographing point to another photographing point, repeats the calculation process of the first to fourth steps, thereby moving each region and correcting. Characterized in that the azimuth can be continuously collected, The predetermined condition of the fourth step is a case where the azimuth angle calculated by the angular velocity sensor and the azimuth angle input from the geomagnetic sensor coincide with each other within a deviation allowable range set by an operator. Azimuth measurement method for fabrication. delete The method of claim 4, wherein And a correction step of calculating an angular velocity sensor correction value by performing a calculation by rotating the sensor board mounted with the angular velocity sensor and configured to rotate 360 °. The first step is, Geographic information panorama, characterized in that for calculating the azimuth change amount of the vehicle by dividing the rotation angle calculated through the integral operation of the angular velocity measured when the rotation means of the vehicle is generated by the angular velocity sensor correction value calculated in the correction step Azimuth measurement method for making photographs. The method of claim 6, The correction step, A first step of rotating the sensor board by 360 °; A first and second steps of calculating an average angular velocity of the sensor board by summing the angular velocity values output through the angular velocity sensor installed in the sensor board and dividing by the number of angular velocity values used for the summation; A first step 1-3 of calculating an average angular velocity of the sensor board by measuring and calculating the time required for the 360 ° rotation of the sensor board; And And dividing the average angular velocity value calculated in the first and second steps by the average angular velocity value calculated in the first and second steps, and calculating the angular velocity sensor correction value. Azimuth measurement method for making geographic panorama.

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