KR101704773B1 - Survey equipment connecting rtk network for surveying the error of position and revision - Google Patents

Abstract

The present invention relates to an RTK network interlocking type survey instrument for real-time surveying for errors and correction of a surveying point, wherein a surveying mobile station, based on the RTK accurately checks the current GPS coordinates and links to a survey result even on the move, comprising: a survey information DB (110); a reference point DB (160); a GPS module (120); a reference point information collection module (170); a survey location modification module (180); a survey module (130); an analysis module (140); a survey data generation module (150); and a support module (190).

Description

TECHNICAL FIELD [0001] The present invention relates to an RTK network interworking surveying instrument for real-

The present invention relates to an RTK network for real-time error and calibration measurements, a survey point for enabling the surveying mobile station to perform an overall survey on the location and shape of the object, To an interlocking type surveying instrument.

With the development of mobile technology, users are increasingly interested in realistic 3D maps, and they are able to directly measure a terrain, ground, building or other ground structure (hereinafter "ground structure" (LIDAR), etc., have attracted attention.

However, one of the most important metric elements in a surveyed survey is the GPS coordinates for the shot or scan point. Of course, the GPS coordinates in the field are made possible by a portable GPS module that receives the satellite signal and DGPS information and confirms the GPS coordinates of the current point.

However, due to the restriction that a relatively wide section should be surveyed within a short time on the ground, the measurement of the object to be surveyed was forced to proceed simultaneously with the movement of the moving vehicle by installing the digital camera or the Lada on the moving vehicle. However, since the conventional portable GPS module has a limitation in real-time GPS coordinate measurement, there arises a problem that a section where GPS coordinates are not measured occurs in a situation where a survey target is continuously photographed or scanned along the moving vehicle.

In order to solve this problem, RTK (real-time kinematic) system has been confirmed by GPS coordinate measurement. However, there is a problem that the accuracy of the technique of measuring the GPS coordinates based on the RTK system is somewhat limited as compared with the continuous shooting and scanning while the survey mobile station is moving.

On the other hand, since the moving vehicle of the surveying mobile station photographs or scans an object to be surveyed while traveling on the ground, there is a problem that the digital camera or lidar shakes due to the shaking of the moving vehicle, which lowers the reliability of surveying.

Prior Art Document 1. Patent Registration No. 10-1011814 (Published on Feb. 7, 2011)

Therefore, the present invention was invented to solve the above-mentioned problem, and it is an object of the present invention to provide a survey point real-time error which reliably confirm the image and scan position of a surveying object by measuring accurate GPS coordinates while the mobile station is moving, A problem to be solved is to provide a network interlocking type surveying instrument.

According to an aspect of the present invention,

A survey information DB 110 for storing survey data as information;

A reference point DB 160 for storing an identification code of the reference point node N and reference coordinate information;

A GPS module 120 communicating with the GPS dedicated satellite 300 and the RTK system 200 and identifying the main GPS coordinates of the surveying mobile station 100;

A reference point information collection module (170) for receiving a coordinate signal including an identification code of the reference point node (N) and reference coordinate information from at least three reference point nodes (N);

The identification code of the coordinate signal is searched from the reference point DB 160 to check whether or not the reference coordinate information received from the reference point node N is erroneous. Based on the reception intensity of the coordinate signal, (100), confirms the sub GPS information of the measurement mobile station (100) based on each reference coordinate information, and compares the main GPS coordinates and the sub GPS coordinates to determine the final GPS coordinates (180);

A surveying module (130) installed in the moving vehicle (C) and collecting a distance value between the ground structure to be measured and the moving vehicle (C) and a scanning value obtained by scanning the shape of the ground structure, as collected information;

A first analysis image is generated by analyzing the scanned value, and pixels having continuous color pixels and color information within a similar range are set as one boundary, and pixels within the boundary range are classified into one pixel group And classifies the images included in the first analysis image as images of the ground structure independent of each other as the image of the pixel group is the same object so that the image within the reference value range is the image of the survey target, An analysis module 140 for generating a secondary analysis image by deleting the secondary analysis image;

Calculates the GPS coordinates of the corresponding survey target based on the final GPS coordinates confirmed by the GPS module 120 and the survey location correction module 180, links the survey target image to the survey target image, A measurement data generation module 150 for setting an image of the measurement data as measurement data and storing the measurement data in the measurement information DB 110; And

And a support module (190) for installing the surveying module (130) on the moving vehicle (C)

The support module includes:

And cylinders 1912 and 1912 'which are spaces formed independently along the circumference around the hollow 1911 at the upper and lower ends, respectively, and cylinders 1912 and 1912' A housing 191 having protruding protrusions 1913 and 1913 'formed at the entrance of the cylinders 1912 and 1912' communicating with the hollow 1911;

The circumference of the housing 191 is formed into a disk shape corresponding to the shape of the housing 191 and the circumference thereof is movably inserted into the cylinders 1912 and 1912 'to close the upper and lower openings of the hollow 1911, and jaws 1913 and 1913' The first packers 1922 and 1922 'are formed between the connection panels 192 and 192' and the jaws 1913 and 1913 ', and the protrusions 1921 and 1921' A pair of connection panels 192 and 192 'constituting the second packers 1923 and 1923' are provided between the connection pads 192 'and 192'.

A connection paddle 193 connected to the upper part of the measurement module 130 and penetrating through the hollow of the housing 190 and the connection panels 192 and 192 '

A weight 194 connected to the lower end of the connection paddle 193;

A horizontal panel 195 installed at an intermediate portion of the connection padding 193 so as to be located in the hollow 1911;

A first filler D1 in a gel state filled in the hollow 1911 and having a specific gravity smaller than that of the horizontal panel 195; And

A second filler that is in a gel state filled in the hollow 1911 and has a specific gravity larger than that of the horizontal panel 195;

It is an RTK network interlocking instrument for real-time error and calibration.

The present invention has the effect of reliably confirming an image and a scan position of a surveying object by measuring accurate GPS coordinates even when the surveying mobile station moves.

In addition, the digital camera or the measurement module is capable of stably measuring the object to be measured without shaking even with the motion of the moving vehicle.

1 is a view schematically showing a communication system of a surveying instrument according to the present invention,
2 is a block diagram showing a configuration of a surveying instrument according to the present invention,
FIG. 3 is a view showing a cross-sectional view of a support module that minimizes a posture change occurring during movement of a surveying mobile station by a surveying module of a surveying instrument according to the present invention,
FIG. 4 is a cross-sectional view of a measurement mobile station according to an embodiment of the present invention,
5 is a cross-sectional view of a receiving mobile module of a surveying mobile station according to the present invention,
FIG. 6 is a flowchart sequentially showing an automatic surveying by terrain using a surveying instrument according to the present invention,
7 is a view showing a state in which a surveying mobile station according to the present invention collects object-related information on the ground,
8 is an analysis image obtained by analyzing the shape and shape information of the object collected by the surveying module,
9 is a diagram showing a primary analysis image relating to the shape and shape of the object analyzed by the surveying instrument according to the present invention,
10 is a diagram showing a secondary analysis image output by filtering the analysis image of FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It will be possible. The present invention is capable of various modifications and may take various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the present invention is not intended to be limited to any particular shape, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of a communication system of a surveying instrument according to the present invention; FIG.

The surveying mobile station 100 of the present embodiment communicates with the GPS dedicated satellite 300 and the RTK system 200 to measure the current main GPS coordinates. Furthermore, the surveying mobile station 100 of the present embodiment communicates with the reference point nodes N1 to N3 within the communication range Z to correct errors in the main GPS coordinates.

More specifically, at least three reference point nodes N1 to N3 transmit a coordinate signal in response to a connection signal sent from the reference point information collection module 170 (see FIG. 2) of the surveying mobile station 100 do. Here, the coordinate signal includes reference coordinate information and an identification code set in the reference point nodes N1 to N3.

Next, the reference point information collection module 170 confirms the sub GPS coordinates by checking the reception strength and reference coordinate information of at least three or more coordinate signals. The measurement location correction module 180 then compares the main GPS coordinates and the sub GPS coordinates according to a set process to determine the current final GPS coordinates of the survey mobile station 100.

As a result, the surveying instrument of the present embodiment includes a channel for receiving information from the artificial satellite 300, a channel for receiving information from the RTK system 200, and a channel for receiving information from the reference point nodes N1 to N3 It is possible to check the current location of the surveying mobile station 100 more efficiently and accurately

For reference, the coordinate signal analysis received from at least three reference point nodes (N1 to N3) proceeds in the same process as the technique for analyzing the signal received from the satellite (300). In addition, the process to be performed in communication with the reference point nodes N1 to N3 will be described in more detail below.

2 is a block diagram showing the configuration of a surveying instrument according to the present invention.

The surveying mobile station 100 according to the present embodiment includes a surveying information DB 110 for storing measurement data collected on the ground as information, an RTK system 200 for transmitting RTK DGPS information, a GPS dedicated satellite 300, A GPS module 120 for confirming the main GPS coordinates of a point at which the survey mobile station 100 is currently located while communicating with the surveying module 130 installed in the moving vehicle C (see FIG. 7) An analyzing module 140 for analyzing collected information collected by using the surveying module 130 and editing the collected information according to a reference value, and an analyzing module 140 for analyzing the analyzed information and linking with the location information to complete the surveying data A reference point DB 160 for storing reference coordinate information and an identification code of a reference point node N installed in a survey target area and a communication range Z At least three reference point nodes N and A base point information collection module 170 for receiving a coordinate signal while communicating with the mobile station 100, and generating sub GPS coordinates of a point at which the survey mobile station 100 is currently located by checking the reference coordinate information, the identification code, And a survey location correction module 180 for determining the final GPS coordinates compared to the main GPS coordinates.

The surveying mobile station 100 of the present embodiment further includes a support module 190 that connects the surveying module 130 to the moving vehicle C to support it.

A more detailed description of each configuration will be given while explaining the surveying method of the present embodiment.

3 is a view showing a cross-sectional view of a supporting module in which a surveying module of a surveying instrument according to the present invention minimizes posture changes occurring during movement of a surveying mobile station.

The support module 190 allows the surveying module 130 installed on the moving vehicle C to accurately photograph and collect the surveying object without being shaken while moving.

To this end, the supporting module 190 according to the present embodiment includes a housing 191 provided on the moving vehicle C, connecting panels 192 and 192 'movably installed on upper and lower ends of the housing 191, A connection padding 193 for connecting the measurement module 130 and the housing 191 via the connection panels 192 and 192 'and a weight 194 installed at the lower end of the connection padding 193, And a horizontal panel 195 fixed to the connection paddle 193 at the housing 191 and horizontal.

The housing 191 is a cylindrical shape having a hollow 1911 opened upward and downward, and cylinders 1912 and 1912 ', which are spaces formed independently around the hollow 1911 at the upper and lower ends, respectively. Therefore, the hollow 1911 is formed at the center of the housing 191, and the cylinders 1912 and 1912 'are independent from the hollow 1911 around the upper and lower ends of the hollow 1911, respectively. On the other hand, protrusions 1913 and 1913 'are formed at the inlets of the cylinders 1912 and 1912' in which the cylinders 1912 and 1912 'communicate with the hollow 1911.

The connection panels 192 and 192 'have a disk shape corresponding to the shape of the housing 191 and are circumferentially movably inserted into the cylinders 1912 and 1912' to close the upper and lower openings of the hollow 1911 . Protrusions 1921 and 1921 'are formed around the connection panels 192 and 192' to restrict the range of movement of the connection panels 192 and 192 'by the jaws 1913 and 1913'. Therefore, the connecting panels 192 and 192 'slide and move along the inclination of the housing 191, but the connecting panels 192 and 192' do not separate from the cylinders 1912 and 1912 '. The connection panels 192 and 192 'are connection means for connecting the connection padding 193 to the housing 191 and also function to cover the upper and lower openings 1911. Therefore, it is necessary to prevent the first and second fillers D1 and D2 filled in the hollow 1911 from flowing into the upper and lower ends of the hollow 1911 and into the cylinders 1912 and 1912 '. For this purpose, it is possible to move the connection panels 192 and 192 'between the connection panels 192 and 192' and the jaws 1913 and 1913 ', and to construct the first packers 1922 and 1922' desirable. Also, the connection padding 193 is movably passed through the connection panels 192 and 192 '. At this time, the first and second fillers D1 and D2 are also connected between the connection padding 193 and the connection panels 192 and 192' , D2) from leaking to the outside. For this purpose, it is preferable to configure the second packers 1923 and 1923 'for tight engagement with the connection padding 193 between the connection panels 192 and 192' and the connection padding 193. At this time, the second packers 1923 and 1923 'surround the circumference of the connection padding 193 and have a truncated cone shape extending from the hollow 1911 so that the upper and lower concurrent second packers 1923 and 1923' To the outside. The second packers 1923 and 1923 'are made of a deformable material so that the connection padding 193 can be smoothly moved relative to the position of the connection panels 192 and 192'.

The connection padding 193 is connected to the upper end of the measurement module 130, passes through the hollow of the housing 190, and the lower end thereof is drawn out. The connection padding 193 is movably fitted in the connection panels 192 and 192 'and is connected to the housing 191 through which the connection padding 193 moves together with the movement of the connection panels 192 and 192' .

The weight 194 is connected to the lower end of the connection paddle 193 so that the connection paddle 193 always maintains the vertical direction irrespective of the inclination of the housing 191. [ Therefore, the weight 194 preferably has a sufficient weight to support the connecting shim 193.

The horizontal panel 195 is installed in the middle portion of the connection padding 193 so as to be positioned in the hollow 1911. The horizontal panel 195 functions to divide the hollow 1911 into an upper portion and a lower portion. The first filler D1 filled in the upper portion and the second filler D2 filled in the lower portion can be separated Thereby forming a partition wall. Therefore, it is preferable that the diameter of the horizontal panel 195 has a size corresponding to the inner diameter of the hollow 1911, and the periphery has a curved shape that minimizes the interference with the inner wall of the hollow 1911.

The first filling material D1 and the second filling material D2 are gel-like materials filled in the hollow 1911 and the first and second filling materials D1 and D2 have different specific gravities and do not mix. The first filler D1 has a specific gravity relatively smaller than that of the second filler D2 so that the first filler D1 is positioned above the second filler D2 in the cavity 1911. [ The first and second fillers D1 and D2 are separated from each other with respect to the horizontal panel 195. The horizontal panel 195 has a specific gravity smaller than that of the second filler D2 and heavier than the first filler D1 do. Thus, the horizontal panel 195 is positioned between the first and second fillets D1 and D2 in the hollow 1911, through which the connection padding 193 maintains the position shown in FIG. The second filler D2 having the largest specific gravity has a relatively larger specific gravity than the horizontal panel 195 and the first filler D2 so that the horizontal panel 195 and the first filler D1 can be stably .

FIG. 4 is a cross-sectional view of a measurement mobile station according to the present invention, in which the receiving module compensates for vertical movement thereof.

The moving vehicle C can be largely shaken up and down when the moving vehicle C passes through the speed braking tread or the groove while moving and the surveying module 130 provided on the moving vehicle C can also be largely swung up and down. In order to prevent such shaking, a conventional shock absorber such as a spring has been applied, but in this case, the conventional shock absorber can continue to shake the survey module 130.

However, the supporting module 190 of the present embodiment replaces the shock absorber such as a spring with the first and second fillers D1 and D2 in the gel state. More specifically, if the moving vehicle C suddenly descends while passing through the groove of the road, the first and second fillers D1 and D2, which are independently filled in the hollow 1911, And the horizontal panel 195 also attempts to maintain its current position by its own inertia with the first filler D1. Of course, since the connection panel 192 located at the upper end of the housing 191 applies pressure to the first filler D1 while descending along the movement of the moving vehicle C, the first filler D1 moves downward , The first filler D1 is temporarily compressed by the pressure because it is a gel material having a large volume change according to the pressure as compared with a general metal and performs a buffer function corresponding to the movement change of the moving vehicle C . The connecting padding 193 moves through the connecting panels 192 and 192 'so that the connecting padding 193 smoothly moves the connecting panels 192 and 192' in accordance with the movement of the housing 191.

In addition, as the moving vehicle C returns to its original position, the first and second fillers D1 and D2 in the gel state absorb the vibration, and the horizontal panel 195 maintains the state without shaking.

FIG. 5 is a cross-sectional view of a receiving mobile module of a surveying mobile station according to an exemplary embodiment of the present invention.

When the moving vehicle C passes the ramp, the moving vehicle C is inclined to the ramp, and the housing 191 is also inclined with the moving vehicle C. At this time, the connection padding 193 tends to maintain its vertical posture by the weight of the weight 194, and the first and second fillers D1 and D2 are also held in contact with each other, Thereby maintaining the horizontal plane. Of course, since the horizontal panel 195 also maintains a horizontal state in alignment with the horizontal plane, the connection padding 193 is connected to the vertical panel 195 by the weight 194, the horizontal panel 195, and the first and second fillers D1 and D2. Keep your posture.

The connection panels 192 and 192 'move within the range of the cylinders 1912 and 1912' in accordance with the change of the posture of the connection padding 193 with respect to the housing 191 and the second packers 1923 and 1923 ' The horizontal panels 192 and 192 'and the connection padding 193 can be twisted while being deformed in accordance with the attitude change of the connection padding 193 with respect to the connection panels 192 and 192'.

As a result, the surveying module 130 can always perform stable scanning irrespective of the change in attitude of the moving vehicle amount C, thereby enabling precise measurement.

FIG. 6 is a flowchart sequentially showing an automatic surveying by terrain type using a surveying instrument according to the present invention, and FIG. 7 is a view showing a state in which a surveying mobile station according to the present invention collects object-related information on the ground .

S10; GPS coordinate confirmation step

The GPS module 120 receives the signal transmitted by the satellite 300 and calculates it according to the setting process to confirm the current GPS coordinates of the survey mobile station 100. [ Further, in order to confirm the exact position of the surveying mobile station 100, the DGPS information is collected by communicating with the fixed station 200, and the error by the satellite 300 is corrected by using the DGPS information.

Since the GPS measurement technology using the satellite 300 and DGPS information is a known technique, a detailed description of the process of the GPS module 120 will be omitted.

On the other hand, the reference point information collection module 170 receives coordinate signals from at least three reference point nodes N located within the communication range Z of the measurement mobile station 100, respectively. As described above, the coordinate signal includes the identification code of the reference point node N and reference coordinate information.

The surveying position correcting module 180 searches the reference point DB 160 based on the identification code of the coordinate signal and searches for the reference coordinate information and the identification code of the corresponding reference point node N. [ The reference coordinate information thus searched and the reference coordinate information received this time are compared with each other to determine whether they are the same or not, and if there is no problem with the received reference coordinate information, the reception intensity is confirmed. The position of the surveying mobile station 100 is tracked with respect to the position of the reference point node N through the received intensity and the sub GPS coordinates of the surveying mobile station 100 are confirmed based on the reference coordinate information.

Subsequently, the surveying position correcting module 180 compares the main GPS coordinates and the sub GPS coordinates to check whether there is an error. If an error is detected, the main GPS coordinates are corrected according to a set protocol to finalize the GPS coordinates.

S20; Information gathering phase of survey module

The surveying module 130 measures the distance from the surveying mobile station 100 to the ground structure as a survey target, and scans the shape of the ground structure.

As is known, the surveying module 130 analyzes and scans the reception contents reflected on the ground structure by irradiating the laser beams D1 to D3, and confirms the difference between the transmission times and the reception times of the laser beams D1 to D3 And calculates the distance to the surveying mobile station 100. [

The collected information collected by the survey module 130 of the present embodiment is a distance value between the survey mobile station 100 and the ground structure and a scanning value of the shape of the ground structure.

(Ground structures) collected by the surveying module 130 of the present embodiment for the first time are the walkway T11, the trash can T12, the streetlight T13 and the passenger T14, The objects of collection information to be collected are a walkway T11 and a streetlight T13.

FIG. 8 is an analysis image obtained by analyzing the shape and shape information of the object collected by the surveying module, FIG. 9 is a diagram showing a first analysis image of the shape and shape of the object analyzed by the surveying instrument according to the present invention FIG.

S30; First analysis image generation step

The analysis module 140 of this embodiment receives the collection information of the measurement module 130, analyzes the scanning values for the ground structure, and combines the analyzed pixel data to complete the primary analysis image. In this manner, the survey module 130 completes the analysis image that is visually imaged the survey subject, as shown in FIG.

Since the pixel data includes information on the color and brightness of a corresponding pixel (hereinafter, referred to as 'color information'), pixels having color information within a similar range but being continuous pixels are considered as one boundary, The pixels are classified into one group of pixels and the images of the group of pixels are the same object so that the images included in the primary analysis image are classified as images of the ground structures independent of each other.

However, the first-order analysis image generated by the analysis module 140 has a limitation on image representation of the ground structure due to errors in scanning values and analysis errors. That is, as shown in FIG. 9, it is assumed that an image T22 of a trash bin T12, which is a target that the surveying mobile station 100 does not need to collect, and an image T24 of a passerby T14, The images T21 to T24 of the measurement targets T11 to T14 become unclear because of the absence of pixel data of the difference analysis image or the like.

10 is a diagram showing a secondary analysis image output by filtering the analysis image of FIG.

S40; Secondary analysis image generation step

The analysis module 140 of this embodiment filters unnecessary images in the primary analysis image and edits the pixel data of the unascertained image to complete the secondary analysis image.

First, the analysis module 140 searches and classifies the images to be surveyed by the surveying mobile station 100 according to the set reference value, and deletes the unclassified images. The present reference value is the width of the image and the height of the image, and when the width or height is equal to or larger than a predetermined length, the reference value is classified into the image of the survey target. The image T22 of the trash can T12 and the image of the passer T14 except for the image T21 of the walkway T11 whose width is a certain length or longer and the image T23 of the streetlight T13 whose height is a certain length or more, (T24) is deleted from the first analysis image to complete the second analysis image.

As a result, only the image T21 of the walkway T11 and the image T23 of the streetlight T13 remain in the secondary analysis image, and the image T22 of the trash can T12 and the image T24 of the passerby T14, Was deleted.

Although the reference value is the width and height of the image, the reference value may include a reference value for searching and classifying a specific image.

S50; Survey data generation step

The measurement data generation module 150 checks the vector quantity related to the distance value and the direction and the like between the measurement object and the measurement mobile station 100 confirmed by the analysis module 140 and outputs the vector quantity through the GPS module 120 and the measurement position correction module 180 And calculates the GPS coordinates of the ground structure to be the target of the surveying object based on the final GPS coordinates determined. The GPS coordinates of the ground structure thus calculated are linked to the image of the corresponding measurement unit displayed in the secondary analysis image.

Subsequently, the surveying data generation module 150 stores the image of the surveying object in the surveying information DB 110.

As a result, if the GPS coordinates or the ground structure is searched, the survey information DB 110 can search the corresponding ground structure and further apply the edited image of the survey target to the map, thereby obtaining a precise and reliable map Can be completed.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100; A surveying mobile station 110; A survey information DB 120; GPS module
130; A survey module 140; Analysis module
150; Survey data generation information 190; Support module
191; A housing 1911; Hollows 1912, 1912 '; cylinder
192, 192 '; Connection panel 193; Connection shim 194; sinker
195; Horizontal panel D1; A first filler material D2; The second filler

Claims (1)

A survey information DB 110 for storing survey data as information;
A reference point DB 160 for storing an identification code of the reference point node N and reference coordinate information;
A GPS module 120 communicating with the GPS dedicated satellite 300 and the RTK system 200 and identifying the main GPS coordinates of the surveying mobile station 100;
A reference point information collection module (170) for receiving a coordinate signal including an identification code of the reference point node (N) and reference coordinate information from at least three reference point nodes (N);
The identification code of the coordinate signal is searched from the reference point DB 160 to check whether or not the reference coordinate information received from the reference point node N is erroneous. Based on the reception intensity of the coordinate signal, (100), confirms the sub GPS information of the measurement mobile station (100) based on each reference coordinate information, and compares the main GPS coordinates and the sub GPS coordinates to determine the final GPS coordinates (180);
A surveying module (130) installed in the moving vehicle (C) and collecting a distance value between the ground structure to be measured and the moving vehicle (C) and a scanning value obtained by scanning the shape of the ground structure, as collected information;
A first analysis image is generated by analyzing the scanned value, and pixels having continuous color pixels and color information within a similar range are set as one boundary, and pixels within the boundary range are classified into one pixel group And classifies the images included in the first analysis image as images of the ground structure independent of each other as the image of the pixel group is the same object so that the image within the reference value range is the image of the survey target, An analysis module 140 for generating a secondary analysis image by deleting the secondary analysis image;
Calculates the GPS coordinates of the corresponding survey target based on the final GPS coordinates confirmed by the GPS module 120 and the survey location correction module 180, links the survey target image to the survey target image, A measurement data generation module 150 for setting an image of the measurement data as measurement data and storing the measurement data in the measurement information DB 110; And
And a support module (190) for installing the surveying module (130) on the moving vehicle (C)
The support module includes:
And cylinders 1912 and 1912 'which are spaces formed independently along the circumference around the hollow 1911 at the upper and lower ends, respectively, and cylinders 1912 and 1912' A housing 191 having protruding protrusions 1913 and 1913 'formed at the entrance of the cylinders 1912 and 1912' communicating with the hollow 1911;
The circumference of the housing 191 is formed into a disk shape corresponding to the shape of the housing 191 and the circumference thereof is movably inserted into the cylinders 1912 and 1912 'to close the upper and lower openings of the hollow 1911, and jaws 1913 and 1913' The first packers 1922 and 1922 'are formed between the connection panels 192 and 192' and the jaws 1913 and 1913 ', and the protrusions 1921 and 1921' A pair of connection panels 192 and 192 'constituting the second packers 1923 and 1923' are provided between the connection pads 192 'and 192'.
A connection paddle 193 connected to the upper part of the measurement module 130 and penetrating through the hollow of the housing 190 and the connection panels 192 and 192 '
A weight 194 connected to the lower end of the connection paddle 193;
A horizontal panel 195 installed at an intermediate portion of the connection padding 193 so as to be located in the hollow 1911;
A first filler D1 in a gel state filled in the hollow 1911 and having a specific gravity smaller than that of the horizontal panel 195; And
A second filler that is in a gel state filled in the hollow 1911 and has a specific gravity larger than that of the horizontal panel 195;
And an RTK network interlocking measuring instrument for real-time error and calibration of measurement point.

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