KR101923463B1 - Mobile mapping system with GPS - Google Patents

Abstract

The present invention provides a 3D position measurement system which obtains an accurate position of an object by applying the Kalman filtering method for 3D position information of the object measured from a satellite-use position measurement system installed in a vehicle such as a car, an inertial navigation system, and a velocity sensor, obtains 3D position coordinates and attribute information of the object based on 3D stereoscopic image information of the object provided from digital video cameras installed in the same vehicle, and databases the information. The database information constructed in accordance with the present invention can be used in real time as topographic/geographical data information which is a core in the construction of a geographic information system (GIS), a facility management system (FMS), and a city management system (UIS).

Description

[0002] Mobile Mapping System with GPS [0003]

The present invention relates to a digital map generating system for 3D position information measurement using a digital map (GS), and more particularly, to a system and method for generating a digital map using a digital satellite positioning system GPS, Global Positioning System (GPS) and stereo camera, and real-time mapping of real terrain / landmarks and location information related to Mobile Mapping System Dimensional positional information measurement digital map production system using a geosynthetic database.

GPS (Global Positioning System) is a global positioning system. The GPS or satellite automatic position measurement system can measure the position of an object that is stationary or moving by receiving GPS information transmitted (broadcasted) from a GPS satellite without any time limit on the earth, sea, air etc. .

The Mobile Mapping System (MMS) using GPS can be used for geodetic surveying, digital photogrammetry, digital mapping, dynamic vision, and geographic information system (GIS) Cutting-edge surveying technology. In other words, the mobile mapping system is a next-generation high-precision digital map-making technology that can realize three-dimensional position measurement, roads and the surrounding environment as a real image by using a digital camera, a 3D laser measurement device, it means.

On the other hand, Geographic Information System (GIS) is a technology that contains location information about terrain / ground that is used in various fields in recent years and its effectiveness is increasing day by day. Location information plays a very important role when analyzing various data using this GIS. Therefore, a method of collecting position information more quickly is being sought from various angles.

For example, the government has been pursuing GIS projects since the early 1990s as a part of national projects. The main contents of this project are centering on the field of computerization of national basic industry, design and management related to various land development, and expending government budget exponentially every year.

However, these GIS construction projects proceed with traditional surveying methods, resulting in huge financial resources, inefficient sharing of work by advanced technicians, and wasted time. Especially, in the case of the facilities related to the road, although the aerial photogrammetric method is used to construct the data, the small facilities such as the manhole, the hydrant, etc. are not measured and a lot of manpower is used to perform a field survey roughly . This method of measurement may result in very dangerous results due to the lack of accurate location information for the object.

As a result, in the conventional method, there is a problem in that it is impossible to appropriately respond to the changed information due to the efficiency and accuracy of the external environment. For example, most of the primary national GIS projects were mainly geographical mapping of national basic maps, road and underground facilities management system construction of local governments and public enterprises. These projects are building up the data by aerial photogrammetry and ground survey method with enormous financial resources. However, if the period of time is 1 to 2 years in the short term and 4 to 5 years in the long term, it is necessary to update the database do. There is a problem that the above-mentioned obstacles can not be efficiently solved by the existing surveying method.

Korean Patent Registration No. 10-0446195 (2004. 08. 19.) "Three-dimensional position measurement and its method"

In order to solve the problems and necessities of the related art as described above, the present invention has constructed a geographic information system (GIS), a facility management system (Facility Management System) and a city management system (Urban Information System) It is an object of the present invention to provide a device for producing a digital map of three-dimensional position information, which is capable of quickly, accurately and inexpensively obtaining a digital map database of positional information of essential features in a digital map database, Purpose.

It is another object of the present invention to provide a system for producing a three-dimensional geographical information measurement digital map using a geotechnical system for real-time position measurement of facility location information in a 3D map in a digital map.

In order to accomplish the above object, the present invention provides a three-dimensional position information measurement digital map production system using a gefit, comprising: a space portion; a control portion; and a user portion, , The user portion obtaining optical image information for each of the objects from each of the plurality of digital cameras attached to the vehicle; Processing each of the collected images with an electrical signal and storing each of the processed signals; Extracting a still image from each of the stored signals; Subdividing the still image into left and right still images for each frame; Extracting features of the left and right still images of each frame by using a digital photogrammetric technique and matching them; Determining an external facial expression element of each of the objects using the matched image; Determining three-dimensional ground coordinates of the objects using the determined external facial expressions; And transforming the ground coordinates into local coordinates using a coordinate transformation algorithm, wherein the local coordinates and the image information corresponding to the objects are converted into a database by introducing the inertial navigation system and the GPS into parameters, , The digital photogrammetric technique is used as an area reference calibration method, the area reference calibration method includes a phase correlation correction method and a least squares fitting method, wherein the paper dust applied to the vehicle is composed of a horizontal holding fiber- Wherein the circuit box portion comprises a cylindrical portion having a cylindrical shape, an upper flat surface forming an upper flat surface of the cylindrical portion, and a grounding antenna fixedly installed at a central portion of the upper flat surface, The center of gravity of the circuit box portion And the horizontal holding part is provided in a rotating state on a part of an upper side surface of the circuit box part so as to maintain the horizontal state of the circuit box at a curved and inclined place, A first rotating shaft rotatably mounted on the rotating shaft and having a plurality of rotating coils arranged in a straight line, a first rotating shaft having the first rotating shaft installed in a rotating state and a plurality of rotating coils arranged in a straight line, A second rotating shaft installed in a direction perpendicular to the first coaxial shaft and rotating in a range of 180 degrees and provided in a straight line, a second rotating shaft rotatably mounted on the first rotating shaft, And two buffer holes, and the buffering portion protects the horizontal holding fiber-receiving device in two stages from external shocks and vibrations, A protective cushion for protecting the circuit box from physical and chemical impact, a first buffer for buffering the physical impact applied to the protection frame in the vertical direction in one step, a physical shock applied in the vertical direction to the protection frame, And a base frame for fixing the horizontal holding fiber-reception device to the vehicle.

The present invention having the above-described configuration realizes a terrain / object database that is a key to building a geographic information system, a facility management system, and a city management system using a digital map in a quick, accurate and low cost real- In particular, the present invention realizes three-dimensional location information data of facilities around the road in real time. Accordingly, the present invention can prevent the waste of manpower and time in constructing the above systems, update the data periodically, and minimize the update cost. In addition, according to the present invention, it is possible to quickly, accurately, and periodically update information in real time, thereby increasing the efficiency of designing, constructing and managing infrastructure facilities, quickly providing terrain information, There is an economic ripple effect that prevents wasting resources and technology from being introduced by technology introduction.

1 is a flowchart for determining three-dimensional position information of a digital map image information according to a first embodiment of the present invention;
FIG. 2 is a flowchart for determining three-dimensional position information of a digital map image information according to a second embodiment of the present invention; FIG.
FIG. 3 is a view showing components of a 3D map generation system using a geofist; FIG.
FIG. 4 is a view showing a satellite and its orbit of a 3D map generating system using a digital map;
5 is a diagram illustrating a principle of measuring position information of an object using a three-dimensional position information measurement digital map production system using a gefit;
6 is a diagram illustrating a principle of measuring a relative position of a point on a known point using a three-dimensional position information measurement digital map production system using a gefit;
FIG. 7 is a diagram showing a model for converting the ground coordinates of an object calculated using a three-dimensional position information measurement digital map production system using geosites into three-dimensional local coordinates;
FIG. 8 is a flowchart showing the process of the facility management according to the third embodiment of the present invention; FIG.
FIG. 9 is a diagram showing a facility management numerical map completed by FIG. 8; FIG.
10A is an enlarged view of a point A shown in FIG. 9; FIG.
FIG. 10B is an enlarged view of point B shown in FIG. 9; FIG.
FIG. 10C is an enlarged view of point C shown in FIG. 9; FIG.
FIG. 10D is an enlarged view of a point D shown in FIG. 9;
11 is an exploded perspective view of a horizontal GPS receiver according to an embodiment of the present invention,
12 is a plan view of a horizontal GPS receiver according to an embodiment of the present invention,
And
13 is an AA cross-sectional view of a horizontal GPS receiver according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, the technique of the present invention will be described in detail with reference to all the attached drawings.

In the description of the present invention, the contents of the patent registration No. 10-0446195 (2004. 08. 19.), which is a prior art document, will be cited as it is and the details of the core technology of the present invention will be described later in detail do.

(Configuration)

According to the present invention, algorithms such as internal facial expression determination, external facial expression determination, and image registration are constructed. Further, the ground coordinates calculated through the satellite automatic position measurement system (GPS receiving apparatus) are converted into three-dimensional local coordinates by the coordinate conversion algorithm. And an algorithm is constructed that can use the result of inertial navigation system in absolute expression.

According to an aspect of the present invention, a three-dimensional position information measurement digital map generation system using a gefit comprises a space part 10, a control part 12 and a user part 14, (GPS), an inertial navigation system (INS), a speed sensor and an image processing system. The GPS, the inertial navigation system, the speed sensor and the image processing system are mounted on a vehicle (vehicle, vehicle).

The three-dimensional position information measurement digital map production system using the above-mentioned paper-and-legs is composed of a combination of at least one selected from a GPS (Automatic Positioning System for Satellite), an inertial navigation system and a speed sensor, Accurately measures the three-dimensional location information of facilities.

The digital map generation system using the above-described geophysical measurement device measures the precise position of a facility by photogrammetry using a digital camera. A 3D stereoscopic image is obtained by the photographic special technique. The location information obtained using the obtained 3D stereo image is stored in a database in real time, and the real image can be acquired by a digital stereo camera. A stereo camera is installed with two or more cameras at a specified distance on a single line, analyzes and processes the image (image) secured by each camera, so that the same stereoscopic feeling and distance as a human- And it is a well-known system configuration, so that detailed description will be omitted.

(Action)

According to the present invention, numerical photogrammetric operations using a digital video camera are possible as algorithms for determining inner facial expression elements, determining outer facial expression elements, and image matching are constructed. In addition, it can be converted into three-dimensional local coordinates by using the coordinate transformation algorithm and the ground coordinates calculated by the satellite automatic position measurement system. In addition, by constructing an algorithm that can use the results of the Inertial Navigation System in absolute expression, it is possible to perform three-dimensional positioning of the object and to compare and analyze the accuracy thereof.

In addition, it is possible to construct a database of topographical objects that is essential for building a geographic information system (GIS), facility management system, and city management system at a fast, accurate and low cost. In addition, three-dimensional information related to facilities such as roads and railways can be grasped in real time

(Example)

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As described above, the present invention is a state-of-the-art surveying technology that integrates geodetic geodetic surveying, digital photogrammetry, digital mapping, and geographic information system technology to provide three-dimensional location information on surrounding facilities such as general roads, expressways, (GPS receiver), an inertial navigation system and a velocity sensor to measure accurately, and a three-dimensional stereoscopic image is acquired by photogrammetry using two digital video cameras Through the indoor work, it is possible to efficiently construct the database for building the facility management system and the geographic information system. That is, the present invention combines an automatic positioning system (GPS), an inertial navigation system (INS), and a speed sensor (Odometer) to determine an accurate three-dimensional position of an object and two digital video cameras (CCD CAMERA) The three-dimensional position of the measurement object is acquired as the real-time image and a database is constructed.

Especially, in the case of a GPS system installed in a vehicle such as a vehicle, accuracy and reliability of position information can be improved because GPS signals transmitted from GPS satellites are constantly received at a straight line distance.

Two cameras (for example, CCD CAMERA) are attached to a vehicle such as a vehicle (for example, on the roof of the vehicle). The two cameras are firmly fixed to the roof of the vehicle and prevent their position changes during operation of the vehicle including the vehicle. Since the two cameras are fixed to the vehicle, the external facial elements of the camera can be used to obtain model coordinates by photogrammetry, regardless of where the vehicle is located. In order to obtain accurate facial elements of the camera, we perform mutual facial expression process using a precisely produced target.

In digital photogrammetry, two or more overlapping photographed images are used to find stereoscopic pairs that have the same point, that is, image matching of the camera image is used. In mechanical / analytical photogrammetry, this work is done on the basis of the reading of the paintings, but in digital photogrammetric surveys it is done by computer numerical calculations. Image registration can be applied to extraction of elevation from photographs, contour generation, point transfer, photographic expression, photogrammetric triangulation. However, any image matching algorithm can not produce satisfactory results as it is performed by human judgment and intellectual ability. For this reason, many researches on image matching are proceeding.

The element for finding the matching point in area based matching is the brightness value. In other words, the area reference matching is based on the principle of finding a point having a high correlation between the brightness values while moving the same area of the right picture corresponding to the certain area of the left picture as a reference. The domain reference matching is divided into a cross correlation method and a least square matching method.

Correlation Coefficient Matching When a comparison is made between a pair of overlapping photographs, a reference window (Target Window) centered on a point on the first picture is set, and a conjugate point is set on the second picture A searching window or a search area is set. Assuming that the reference window frame has the same size as the reference window frame, that is, the comparison window frame, with the center of an arbitrary point (n, m) in the search window frame, the correlation coefficient r (n, m) is as follows.

here,

r (n, m): a correlation coefficient between the reference window frame and the comparison window frame, and -1 r (n, m) 1.

G_w (x, y): brightness value of the image at (x, y) of the reference window frame

G_s (x, y) is the brightness value of the image at (x, y)

: 기준창틀 내 영상소 밝기값들의 평균

: Average of brightness values of the image in the reference window frame

: 비교창틀 내 영상소 밝기값들의 평균

: Average of brightness values of the image in the comparison window frame

Reference area One 2 3 4 5 6 7 8 9

Search area One 2 3 4 5 6 7 8 9

Table 1 shows the reference area, Table 2 shows the search area, and Tables 1 and 2 show the tables for obtaining the image matching points using the reference window frame and the search window frame in the phase correlation correction method.

The reference window frame typically uses a square or rectangle with an odd number of pixels. If the correlation coefficient r (n, ~ m) between the reference window frame and the comparison window frame is the maximum, the point is considered as the image matching point if the correlation coefficient r (n, ~ m) at that time is more than the threshold value. In this method, if the reference window frame is similar to the reference window frame, it is determined that the matching point is present. Since the factors affecting the image registration are the size of the reference region and the size of the search region and the size of the reference region is small, the reliability of the correlation coefficient is low. Therefore, it is important to determine an appropriate size reference region for the most accurate image matching . Further, the present invention uses the following variant to improve the calculation speed when performing image matching using the correlation coefficient method of Equation (1).

On the other hand, the least squares fit method is a method of determining a point where the sum of the squares of the differences of the pixel values between the two window frames becomes minimum as a matching point. The matching method is proposed by Akermann et al., And assuming that the two window frames are near the correct matching pair, the two window frames are expressed as a function of the pixel values, and the difference in the image brightness values between the two window frames is represented by a geometric difference And radiated differences (Radiometric Difference). The geometric differences are fundamentally due to differences in the external facial elements of the two photographs and the differences in the starting position of the scanning line, the direction of the scanning, and the spacing of the scanning lines when scanning to digitize the photographs. Difference in the amount of radiation is the difference in total or partial brightness occurring in shooting, film development and scanning process in the same region, and various noise generated in the process of digitizing a photograph.

G_s (x_s, y_w), G_s (x_s, y_w) is the brightness value of the reference window frame, y_s) and the brightness of the initial approximation in the search window is G_s ^ 0 (x_s ^ 0, y_s ^ 0), the goal is to determine (x_s, y_s) where the difference in brightness is minimized as follows.

Equation (3) can be written as

Here, G_s_x and G_s_y are the amounts of change in the brightness values in the x and y directions, and are expressed by the following equations.

The coordinates in the two window frames are in relation to the projection changes with a common surface in the object space. Considering the very small size window frame to be matched, we can approximate the geometric relationship between the two window frames by conformal mapping and affine mapping. Assuming that the following anisotropic transformation is established between the two window frames,

, And both sides of the anisotropic transformation are differentiated with respect to the parameters, and these are substituted into the above equation (4), the observation equation is as follows.

One observation equation is formed for each corresponding pixel pair between the reference window frame and the search window frame to derive N × M equations for an N × M window frame. When this is expressed using a matrix,

here,

The least squares solution of the above equation is:

Here, W is a weight matrix.

Using the transformation parameters obtained through the above process, image resampling is performed on the comparison window frame and the coordinates are updated.

The center of the new comparison window frame is as follows.

In the same way, we create a new observation equation and solve the problem. Repeat this operation until the convergence is obtained.

The methods of image rearrangement include Nearest Neighborhood Interpolation using the brightness value of the nearest point on the input grid, Bilinear Interpolation using the brightness values of adjacent four points, And a bicubic interpolation method using a 16-point image brightness value. In the present invention, a pitch interpolation method is used. This method is already well known.

In case of least squares fitting, a correction for the difference in overall brightness of the two window frames must be performed separately before the iterative calculation. As a correction method, a method of making the average and variance of pixel values of two window frames equal is used. The following equation gives the average and variance of the pixel values of the two window frames. Assuming that the average of the reference window frame pixels is sigma_w, the standard deviation is the average of the comparison window frame pixels, the standard deviation is sigma_s, the arbitrary pixel value of the comparison window frame is G_s, and the corrected pixel value is G_s'

From the above equations, the positional precision of least squares matching is the highest, but when the initial approximate position is wrong, the convergence is considerable, so the initial approximate position of the matching point should be within 2 to 3 pixels.

Feature Based Matching is a technique for extracting factors that are characteristic (point, line, area, etc., but mean general boundary information) as basic data for finding corresponding points. The shape reference matching finds the corresponding feature in two images and finds a corresponding point. In this case, a representative value such as an average value or a variance is calculated for each point, and the values of the two images are compared with each other, and a conjugate point is used. In this method, feature points (InterestPoints) having the characteristics of an image function are extracted from each digitized image, and image matching is performed therebetween. Moravec, Hannah, and Forstner have proposed a method for extracting minutiae points. Among them, Forstner Interest Operator, which is proposed by Forstner, is widely used. Forstner Interest Operator detects edges, feature points, and the center of a circular object.

For example, let the gradients of the pixel values of the image in the x and y directions be g_x, ~g_y. This is calculated by convolving with the Robert Operator or the Sobel Operator.

Roberts Operator 0 One -One 0

Sobel Operator -One 0 One -2 0 2 -One 0 One One 2 One 0 0 0 -One -2 -One

Then, the following normal matrix N is calculated.

Subsequently, the following feature values w and q are calculated.

Here, detN means a determinant of N, and trN means a trace of N. w is related to the size of the error ellipse and is proportional to the contrast. q is a factor related to the shape of the error ellipsoid and has a value between 0 and 1. If q is 1, it is a complete circle. Among the points having q and w exceeding the threshold value, all points having a maximum value in the vicinity of the corresponding point are removed, and the remaining points are recognized as the feature points. q and w are not used as definite criteria for determining whether or not image matching between two points is possible. Therefore, they are often used in combination with a method of comparing correlation coefficients between feature points.

In relation to the development of digital photogrammetry system software, the present invention uses a digital video camera having the following specifications.

product name colar camera 15DSP manufacturer KAPPA opto-electronics GmbH (U.S.A) Type 1/2 "interline - transfer-CCD with
코스터ARY 칼라 필터 Area 6.45 * 4.8 [mm], 768 * 494 pixels Resolution 480 lines (horizontal) Power supply 12V DC / 3W Housing fiameter 73 * 50 * 148 [mm], 410 g

From the camera specifications in Table 5, the present invention can acquire a maximum of 811 x 508 pixels, and the effective pixel size is 768 x 494 pixels. The present invention uses 640 x 480 pixels.

The digital video camera of the present invention is attached to a roof of a vehicle together with a GPS antenna for collection of real-time images and for collecting three-dimensional position information. Further, as will be described later in detail, a GPS receiver, a data processing notebook, and an inertial navigation system (INS) are installed in a vehicle interior.

Software for digital photogrammetric systems using digital video cameras uses Microsoft's visual C ++ language to perform faster and more accurate image processing on computers running Windows.

FIG. 1 is a flowchart for determining three-dimensional ground coordinates of image information according to a first embodiment of the present invention.

Referring to Fig. 1, in steps 16 to 20, two digital cameras attached to a vehicle roof are used to capture an image of an object. In step 24, each image collected by the image pickup device through the optical adjusting unit of the camera is processed as an electrical signal and stored in a memory. In step 26, the still image is cut from step 24. In steps 28 and 30, each frame is divided into left and right still images. In step 32, the still images for each frame from step 28 and step 30 are matched. In step 36, the image matching from step 32 is used to determine an external facial expression element. In step 38, the three-dimensional ground coordinates of the object are determined using the external facial expression element calculated from step 36. In step 44, the ground coordinates of step 38 are converted into local coordinates through the coordinate transformation algorithm. At this time, GPS signals are received (42) with the inertial observer (IMU) 40, and these are used as parameters.

In order to determine the three-dimensional ground coordinates from the image of the camera, the image window on the window has a scroll bar moving up and down and left and right so that an image larger than the work screen can be processed. The enlargement target area can be 2 times, 4 times, up to 7 times. The mouse is positioned on the right side of the status bar at the bottom of the work screen, and the (x, y) coordinates and brightness values of the point are displayed as RGB values. When the left button of the mouse is pressed, the image coordinates can be registered by selecting the point from the image sequentially from the number 1.

The number of the station can be changed and deleted, and the number display in the image can be hidden. A simple text editor is added for inputting, outputting and modifying the data, so that editing, cutting, copying, pasting and editing functions are available in addition to saving and printing of documents.

As described above, the present invention smoothly performs a digital photogrammetric process using image processing software.

FIG. 2 is a flowchart illustrating a three-dimensional position analysis process of image information according to a second embodiment of the present invention. Referring to FIG. 2, a three-dimensional position analysis process for an object of the present invention is as follows.

In steps 46 and 48, the right and left images are collected using two cameras attached on the vehicle. In step 50, the feature points of the left image are extracted from the collected images. In step 52, a matching point of the image is obtained using the correlation coefficient method described above. Subsequently, in step 54, a series of processes for eliminating the defective matching points according to the matching strength is performed.

In step 56, it is determined whether the image obtained through the steps (46 to 54) is the lowest level image. If the discrimination result is the lowest, the process proceeds to the next step 58. Otherwise, the process returns to the step 52 to repeat the image matching process using the correlation coefficient method. In step 58, if the image is the lowest level, the least squares image matching is performed continuously. In step 60, an external facial expression element is determined by the above-described space backward-ray tracing method. In step 62, a space forward crossing method is performed using the external facial expression element determined in step 60. [ In step 64, the three-dimensional coordinates of the object are finally determined.

FIG. 3 schematically shows the components necessary for positioning an object using the satellite automatic positioning system.

In general, auxiliary systems such as an Inertial Navigation System (INS) are additionally provided in addition to GPS to determine the position of an object using a satellite.

First, a positioning system using GPS will be described.

As described above, GPS is an abbreviation of Global Positioning System and is a satellite automatic positioning system which can be called a global positioning system. GPS can measure the position of an object that is stationary or moving by receiving information originating from a satellite without any restriction on the earth, sea or air.

A space segment 10, a control segment 12, and a user segment 14 are formed in a three-dimensional position information measurement digital map production system using a three- And the like.

GPS research and development began in earnest in 1973 when the US Navy's TIMATION program and the US Air Force's 621B project were merged into the United States Defense Initiative, NAVSTAR (NAVIGATION Satellite Time And Ranging). The GPS satellite, Block-I satellite, was launched from February 1978, and the Block-II satellite, a practical satellite, was launched in February 1989. Referring to FIG. 4, a total of 24 satellites are currently in operation, and three-dimensional positions can be measured without any time limitation by receiving radio waves from four or more satellites all over the world.

Referring to FIG. 4, the GPS satellite group is composed of twenty-four GPS satellites in total, including twenty-one practical satellites and three orbital standby satellites in six orbits.

The radius of the satellite orbit is about 20,183 Km. The orbital inclination angle is 55 ° relative to the equator. Four successive satellites are arranged on six orbital planes with a right ascension threshold of 60 degrees. The orbital period of the practical satellite is planned to be 0.5 days and the individual life is 7.5 years.

Each satellite is equipped with two cesium atomic clocks and two rubidium atomic clocks. Each weighs about 845kg.

The task performed in the control part, that is, the terrestrial control station (12 in Fig. 3), is to check the quality of signals transmitted from satellites, track satellite trajectories, check the operation status of various equipments mounted on satellites, have. There are five ground control stations 12 in the world. The four unmanned control stations are arranged at equal intervals in the vicinity of the equator. The main station is in Colorado Springs. Unlike other control stations, the main control station not only corrects the orbit of the satellite, but also replaces the unusable satellite with a standby satellite.

Currently, GPS is widely used. The user essentially has one or more receivers. In addition, some users have computer systems and related software.

)로 이루어지는 총 4 개의 미지량을 결정해야 하는데, 이를 해결하기 위해 최소한 4개 이상의 위성을 확보하여야 한다. The positioning principle of GPS will be briefly explained. It receives radio waves originating from satellites whose exact position is known by the traced orbit, and measures the time of arrival of the radio waves from the satellite to the observation point to determine the spatial position of the observation point. Therefore, the most important factor in determining the distance from the satellite is time. As described above, the GPS satellite is equipped with an atomic clock having extremely high stability. If the clock on the satellite and the clock on the receiver are exactly the same, the three-dimensional position can be determined by the distance from the three satellites. However, atomic clocks mounted on satellites are very expensive and are not suitable for general use. For this reason, the receiver uses a relatively inexpensive low-cost clock. To solve this problem, it is necessary to receive the radio waves from the four satellites and to eliminate the unknown time difference between the satellite time and the receiver time. Be aware of altitude such as at sea, or be able to receive radio waves from at least three satellites for two-dimensional positioning. In order to determine the three-dimensional position, three unknown positions (X, Y, Z) and one clock error of satellite and receiver

). In order to solve this problem, it is necessary to secure at least four satellites.

(U i) from the center of the earth to the satellite obtained from the satellite message and the distance vector (ri) from the receiver to the satellite received from the satellite receiver from the satellite signal, And calculates a position vector (R p)

5 shows the positioning principle of the GPS. 5, the distances from the four known satellites S1, S2, S3, and S4 (X i, Y i, Z i) to one point P on the ground are observed at the same time, Y p, Z p).

That is,

From

( V:전파속도, :전파도달시간))Where ri is the distance between the satellite and the point

(V: propagation speed,: propagation time))

X i, Y i, Z i: 3D position of the satellite

X n, Y p, Z p: Position of the point to be found

: 위성과 수신기의 시계오차

: Time difference between satellite and receiver

And the coordinates (X, Y, Z) of the point P can be simply calculated from this.

On the other hand, GPS positioning errors include stability of the satellite's atomic clock, accuracy of satellite orbit predictions, propagation delay of the ionosphere, propagation delay of the troposphere, noise of the receiver, and channel number of the receiver. Generally known accuracy is about 100 m when using C / A code and about 10 m when using P code in case of absolute position measured by one receiver. On the other hand, the relative position measured by two or more receivers has a high accuracy of 10 to -6 because of the error in cm units at a distance of several tens of km or more.

Numerous studies have been conducted to improve the accuracy in positioning using GPS. Especially, it is possible to improve accuracy by receiving the two carriers of L1 and L2 at the same time and using the Doppler observation method to eliminate the influence of the ionosphere and convection layer, and combining GPS with Very Long Baseline Interferometry (VLBI). These studies are expected to be much improved in geophysical and geodetic fields that study crustal movements, geological structures, and so on.

There are two types of position measurement using GPS. One-point location method, also called absolute location method, is a method to measure the absolute position indicating the position of the earth in real time by analyzing the radio waves and codes of the satellites with one GPS receiver. This is mainly used for positioning of high-speed moving objects such as automobiles, airplanes and satellites, and relatively low positional accuracy such as climbing and sea position.

As shown in FIG. 6, the relative position measurement method is a method of obtaining a vector from a point (reference point) at which a position is known to a point (moving point) at which the position is to be known, to obtain a position. In this method, a receiver is installed at a known point, and a position is calculated by comparing and analyzing satellite information received from both of the receiver and the unknown point. The principle of the relative position measurement method is a method of measuring the difference of the time of arrival by measuring the phase of a carrier or a code by receiving a carrier transmitted from a satellite at a plurality of receivers. In general, this method is used extensively, and the error of the near field measurement is several millimeters to several millimeters, and in the remote case, accuracy of 10 to -6 is obtained. DGPS (Differential GPS) is a method of measuring the position of a satellite using only the positioning code of the relative positioning method. The location accuracy is relatively low, resulting in an error of about 5 m. OTF (On-The-Fly) The position can be measured with an error within a few millimeters by calculating the position in phase.

In the present invention, Ashtech (Z-Surveyor) is used as a GPS device. The reference station is located at Sungkyunkwan University's second engineering building on the rooftop, and the specifications of GPS receiver and GPS antenna are as follows.

model name Z-FX manufacturer Ashtech. inc Staic precision 5 mm + 1 ppm (drms) RTK precision horizontal 1cm + 2 ppm
vertical 1.7cm + 2ppm channel 12 channel battery Built-in / Exterior weight 3.75 lbs dimension 3 'H + 7.3' W * 8.25 'D power 10 - 28 V DC, 8.0 W

model name Choke ring antenna manufacturer Ashtech. inc Frequency L1 1575.42 + - 10.23 MHz
L2 1227.60 + - 10.23 MHz Antenna gain

Next, the positional analysis of the object using the Inertial Navigation System (INS) will be described.

Performing the navigation is not only to find the current location, but also to find a way to go from the current location to the target location. There are five methods of performing navigation: Piloting, Dead Reckoning, Celestial Navigation, Inertial Navigation, and Radio Navigation.

The adjustment method is the simplest and oldest navigation for interpreting the position of the mount for the mark of the base. Probabilistic navigation is a method of interpreting locations using extrapolation from the observed series of velocity increments. The astronomical navigation is to observe the position of a celestial object for a certain period of time and to grasp its current position. Inertial navigation is to analyze the position of the mount using an accelerometer mounted on the mount. The radio navigation method is a method of analyzing the position of an object by observing the time that the electromagnetic wave emitted from the transmitter reaches the receiver and then returns.

A gyroscope is a thing of the earth's rotation and is generally called a gyro. The gyro is largely composed of a rotary gyro using a precession, a vibration gyro using a collio force, and an optical gyro using a sagnac effect.

The gyro has a structure in which a stable support (gimbal) supports a rotor rotating at high speed around a rotary shaft. A gyro supported by a stable support around two orthogonal axes is called a biaxial degree of freedom gyro. Also, a gyro equipped with a rotor around two axes without torsional moment due to friction and imbalance is called a free gyro. A single-axis-freedom gyro has one output shaft and one input shaft in addition to the rotary shaft, and the three shafts are orthogonal to each other.

The vibration gyro has the advantages of long life and short preparation time for operation because there is no rotor. However, there is a disadvantage that the lift due to temperature is large.

는 수학식 (16)과 같다. The new Gnag effect used in the optical gyro is that when the circular light path rotates, the segmented rays converge with a slight time difference. The refractive index of the optical path is assumed to be 1. When the gyro rotates at an angular velocity ω (omega), the time difference required for one rotation of the two lights incident at the point A in opposite directions along the circular optical path

(16). &Quot; (16) "

를 이용한 광로차

은 수학식 (17)과 같다.Where C is the speed of light and C >> R ω. S is the area enclosed by the circular optical path. Equation (16)

Optical pathway using

(17). &Quot; (17) "

An accelerometer is an instrument that measures the specific force required to accelerate a unit mass. It uses the inertia of an object when observing the acceleration of an accelerometer mounted device. Types of accelerometers include a Pendulous Integrating Gyro Accelerometer (PIGA) with integrated gyro, a proof mass accelerometer using an experimental object mounted in a small box of friction, A vibrating string accelerometer, and a fiber optic accelerometer using an optical fiber.

The integral gyro accelerometer can be manufactured by using the phenomenon that the torsional moment around the output shaft generates a wash around the input shaft in the gyro with 1 degree of freedom. The linear acceleration generated along the input shaft of the integral gyro accelerometer generates a torsional moment on the output shaft of the rate gyro. Through this process, a carcass motion occurs in the cylinder perpendicular to the input shaft of the gyro.

Experimental mass accelerators are small masses that move freely from one vortex to the other and are connected to springs to limit motion and to damping to prevent large fluctuations. The equation of motion of the accelerometer can be derived from the assumption that the sum of the forces acting here is zero.

The vibration transit accelerometer connects the strings to the left and right sides of the movable object to observe the acceleration. The strings used here are thin metal tapes in a strict sense. The magnet acts to keep the tape at a nominal frequency and to maintain constant vibration. When an outer box is accelerated along a sensitive axis, a sliding mass generates different tensile forces so that the two tapes can vibrate at different frequencies. The acceleration is proportional to the difference in the vibration frequencies of the two tapes.

The fiber accelerometer is a device for observing the force that accelerates an object. When acceleration occurs, the frequency of the micro-region is generated and the intensity of the optical power is modulated in the optical fiber. The range and sensitivity of optical fiber accelerometers are affected by the stiffness and mass of the optical fiber.

Continuously, inertial navigation is a process of observing the acceleration of an onboard machine and integrating it, thereby determining the speed and position of the onboard machine relative to the starting point of the base. An accelerometer is a device that detects acceleration. Acceleration is a vector quantity with direction and magnitude. The gyro ensures that the accelerometer remains stationary in the inertial system. Since the accelerometer does not sense gravitational acceleration, it is necessary to introduce a gravitational effect based on the gravitational model in order to compensate for defects in these accelerometers. Computers and gravity models can be used to calculate gravity as a function of position, which can be obtained by integrating the observed acceleration twice.

The basic functions of the inertial navigation system are sensing, computing, and outputting. Accelerometers and gyros perform detectable and transmit observations, such as acceleration and angular rotation, to a computer. The computer uses this data to calculate speed, position, posture, rate of change of posture, direction, and altitude. The output function is to output the appropriate data for the user's purpose.

External navigation devices used for location analysis can be combined into an inertial navigation system. The equipment used for speed observation includes an odometer, etc. The equipment used for position analysis includes GPS.

Subsequently, the measurement performance of the GPS is obtained with the coordinates on the WGS-84 coordinate system, and various coordinate transformations are required to use it. Coordinate transformation is also a fundamental tool for the mutual expression and absolute expression of real-time photogrammetry systems. The three-dimensional Cartesian coordinate system is a coordinate system that is used most basically to represent the position of a space. It is considered to extend the plane Cartesian coordinate system and consists of three axes orthogonal to each other. In addition, the most commonly used coordinate system for displaying the absolute position on the earth is the latitude coordinate system, which displays the horizontal position through the longitude and latitude.

Let's look at the transformation of the earth coordinates.

The results from GPS are represented by values on the WGS-84 ellipsoid. The latitude and longitude altitude coordinates for any one point are expressed by the following equations (18), (19), and (20) on a three-dimensional orthogonal coordinate system.

here,

e ² = (a ² - b ² ) / a ²

a: long axis of the ellipsoid

b: Roundness of the ellipsoid

to be.

Conversely, the three-dimensional Cartesian coordinates of a point are transformed into the longitudinal coordinate system through equations (21), (22), and (23).

here,

(e ') 2 = (a 2 - b 2) / b 2

The projection transformation of WGS-84 to the Bessel ellipsoid used in Korea derives the deviation of the geodetic coordinate components of the WGS-84 and Bessel coordinates from the Molodensky transformation to the satellite viewpoints on the two reference systems, Conversion is performed. Equations (24), (25), and (26) are used to obtain the deviation of the geodesic coordinate components between two different ellipsoids.

Here, Δψ, Δλ, and ΔH are the deviation of the geodesic coordinate component between the input ellipsoid and the transformed ellipsoid, and the unit of output-input is seconds.

ΔX, ΔY, ΔZ: the ellipsoidal origin shift of the input ellipsoid and the converted ellipsoid

a: the long axis of the input ellipsoid

f: flattening the input ellipsoid

Δa, Δf: difference between input ellipsoid and transform ellipsoid parameters

e: ecentricity

e ² : 2f-f ²

Plane Cartesian coordinates (XN, YE) when the longitudinal degree coordinates (λ 0, ψ 0) and the line scale factor S 0 = 0.9999 of the planar Cartesian coordinate origin are used to convert the planar Cartesian coordinate system to the longitudinal latitude coordinate system, (27), (28), and (29), respectively, where R 1 and N 1 are R 1 and N 1, respectively.

here

ρ = 206264.806247 "

ψ 1: It is the latitude of the foot of the waterline passing through the meridian passing through the origin of coordinate at the point to be obtained and it is repeatedly calculated by using equation (30).

If an estimate of ψ 1 and ψ n are given, either find B ψ or calculate ψ n + 1 from it.

This calculation is repeated until ψ n + 1 - ψ n <2 "× 10 -5 is satisfied, and ψ n + 1 at that time is defined as ψ 1.

B ψ = length of meridian arc from equator to ψ 1

(X N, Y E) coordinates and the meridional aberration γ and the scale factor S at any point having the longitude and latitude coordinates (λ, ψ) are obtained from the following equations (31) and (32).

로 놓으면

To

to be.

here,

Next, the coordinate transformation using the 7-parameter will be described.

The 7-parameter method is a method of performing transformation between two different orthogonal coordinate systems by calculating seven transformation parameters using the least squares method. As shown in FIG. 7, the conversion equation between the coordinate system (X GP) represented by the coordinates to be converted and the coordinate system (X th) represented by the coordinates to be converted can be configured as Equation (33) using Helmert transform.

here,

α 1, α 2, and α 3 represent rotation in the X-axis, Y-axis, and Z-axis directions, respectively.

는 두 좌표계 원점의 평행이동량으로

와 같다. here,

Is the parallel movement amount of the two coordinate system origin

.

R is the rotation matrix between two coordinate systems. Expression (33) can be expressed as Equation (34).

here,

X GP, Y GP, Z GP: Converted coordinates

X th, Y th, Z th: coordinates to be converted

S: Scale factor

? 11,? 12, ...,? 33: rotation matrix coefficient

DELTA X, DELTA Y, DELTA Z:

to be.

In addition, the component of the rotation matrix R is expressed by Equation (35).

here,

, x 는 X, Y, Z축에서의 회전각을 의미한다. 회전행렬은 정방행렬이므로

= 1 이다. ω,

, and x denotes the rotation angle in the X, Y, and Z axes. Since the rotation matrix is a square matrix

= 1.

Since equation (36) is a nonlinear function, linearization is performed using the Taylor series and taking up the first order term, as shown in equation (37).

In equation (37), X 0 is the initial approximation of the 7-parameter and dX is the correction value for X 0. X is also a 7-parameter. Using the equation (38), a conditional equation is constructed and expressed by a matrix equation, as shown in equation (39).

here,

to be.

For the I points, the correction amount of seven conversion elements can be calculated by interpreting Equation (39) assuming the unit weighting factor (P = I).

Also, the cofactor matrix Q c is constructed as follows.

In addition, since the autocofactor matrix Q _dd is an inverse matrix of the coefficient matrix, it is expressed by Equation (42).

, x, S를 알면 서로 다른 두 좌표계 상의 좌표를 변환할 수 있다.Thus, the seven transformation parameters? X,? Y,? Z,?,

, x, and S, you can transform the coordinates on two different coordinate systems.

The specifications of the Inertial Navigation System (INS) used in the present invention are as follows.

model name ISIS-IMU manufacturer Inertial Science, Inc Size 3.30 '* 2.5' * 1.83 Weight 250g Power supply 4W @ 5V DC Acceleration upto 500g input method Analog and / or Digital Angular rate capability upto 3000 ° / sec

FIG. 8 is a flowchart showing the process of the facility management according to the third embodiment of the present invention. Referring to FIG. 8, the operation progress of the facility management of the present invention is as follows.

In step 66, the target of the road facilities to be managed is selected. In step 68, a shooting plan is set up when the target area is selected. In step 70, the position of the reference point on the GPS is grasped. In step 72, the GPS receiver, the INS, and the CCD camera are inspected for the test equipment. In step 74, the image information about the target area is collected. Step 76 collects the coordinate determination data. In step 78, the images and data collected from steps 74 and 76 are processed using a software programmed algorithm. In step 80, the result processed in step 78 is edited through a separate operation in the room. Then, in step 82, based on the edited data from step 80, a final drawing of the final target area is made.

9 is a facility management chart for the target area obtained through the process of FIG.

Figures 10A through 10D show enlarged views of the reference characters shown in Figure 9, respectively.

In summary, the present invention relates to a method and system for locating three-dimensional locations of related facilities on public roads, highways and railroad by using a geographic information system (GPS), an inertial navigation system (Strapdown INS), a distance measuring sensor (Odometer) Sensor), and acquire three-dimensional stereoscopic image by photogrammetric method using two or more digital video cameras (CCD CAMERA) ) And a facility management system (FMS).

More specifically, the present invention has constructed an automatic program for numerical photogrammetry so that a computer can automatically process the numerical calculation of image information about a target area collected from a digital camera. Furthermore, we made it for Windows environment for user interface. Especially, for the digital photogrammetry, algorithms such as inner facial element determination, outer facial element determination, and image matching are constructed. Meanwhile, the present invention proposes a coordinate transformation algorithm for converting the GPS measurement results into three-dimensional local coordinates, and provides a coordinate transformation algorithm for comparing the GPS information between the receiver of the known point and the receiver of the unknown point A positioning method is disclosed. In addition, the present invention constructs an algorithm that can use the results of the inertial navigation system as an absolute expression, implements three-dimensional positioning by mounting three sensors on the vehicle, and then compares and analyzes the accuracy thereof.

As described above, the present invention is a database obtained by acquiring three-dimensional position coordinates and attribute information of an object. Based on the data information obtained from the present invention, it is possible to construct an accurate geographic information system (GIS) for infrastructure facilities, to prevent human resources, to meet user demands for various informationization, to acquire and provide information rapidly, It is possible to accumulate technical information.

There will be a lot of data renewal problems due to years of change in all the public facilities that are currently being built, such as roads, water, sewerage, railway, electricity and communication databases. In developed countries, data is updated at a small scale every year, and then the data is updated at medium scale every 5 years. However, since data is being constructed at the initial stage in Korea, there is no consideration of data update problem. After 4 to 5 years, it will be almost impossible to carry out the data update with enormous financial resources as it is now, and it will result in waste of national finances. It can be seen that the present invention is an essential technique for solving the problem of high cost due to the data updating caused in the future and for performing data updating more efficiently.

While the invention has been described by way of examples, it is to be understood that the scope of the invention is not limited to the examples.

On the contrary, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. Accordingly, the interpretation of the scope of protection of the present invention should be approached as a concept of the maximum light including the range of various modifications and changes.

On the other hand, in order to obtain accurate and precise three-dimensional position information, in the case of a GPS receiver installed in a vehicle including a vehicle, it is necessary to receive a signal of a GPS satellite constantly at a straight line distance. However, The distance between the GPS satellite and the GPS satellite can not be maintained constant.

Therefore, there is a need for a technique for always maintaining a constant distance from a satellite to a satellite by forming a horizontal state without being influenced by bending, tilting, or the like of a ground installed in a vehicle.

FIG. 11 is an exploded perspective view of a horizontal GPS receiver according to an embodiment of the present invention, FIG. 12 is a plan view of a horizontal GPS receiver according to an embodiment of the present invention, and FIG. 1 is an AA sectional view of a horizontal GPS receiver according to an embodiment.

Hereinafter, a configuration of a horizontal GPS receiver 1000 for forming an automatic position-measuring system according to the present invention will be described in detail with reference to FIG. 1300).

The horizontal holding fiber reception device 1000 is fixedly installed at a position where it can receive a satellite signal directly, such as a roof of a vehicle, and can receive it well. Even if the road on which the vehicle is moving is bent or inclined, (Transmission, transmission, broadcasting) by the GPS satellite antenna (GPS ANT) and analyzes and processes the position information (coordinate information).

When the horizontal SAW receiving apparatus 1000 fails to maintain the horizontal position, it can not correctly receive the GSR signal of the GSR satellite. If the horizontal holding GSR apparatus 1000 is not maintained in the horizontal position, The error value is included in the distance value and the reception level value due to the signal received by the GPS satellite antenna, and the accuracy and accuracy of the measured position information value are lowered.

That is, when the grounding antenna is held horizontally, there is no error between the distance value and the level value of the received signal at each position on the road in real time, so that the horizontal holding and grounding device 1000 receives the grounding antenna in any terrain, And is always kept horizontal.

The three-dimensional positional information real side using a GPS is a method of analyzing a linear distance value with a satellite and a level value of a received signal and is generally well known, and thus a detailed description thereof will be omitted.

The circuit box portion 1100 includes a cylindrical portion 1110 having a cylindrical shape and a top surface 1130 forming an upper plane of the cylindrical portion 1110 and a grounding antenna 1150 fixedly installed at a central portion of the top plane 1130. [ And a weight 1170 fixed to the central portion of the lower side of the cylindrical portion 1110 so that the center of gravity is formed at a lower portion.

The cylindrical portion 1110 may have a cylindrical shape, and a hollow portion may be provided with a circuit portion for analyzing the received signal. However, if necessary, the circuit part may be provided at another position. The circuitry receives and analyzes the GPS signals that are transmitted (transmitted, output, broadcast) by the GPS satellites and provides various types of signals including latitude, longitude, sea level, And outputs the data, records it, and converts it into corresponding data for three-dimensional position information measurement. Such analysis, conversion, and the like are already described or well known, so a detailed description will be omitted.

The horizontal holding part 1200 is installed on a part of the upper side surface of the circuit box part 1100 in a rotating state so as to maintain the horizontal state of the circuit box part 1100 on a slope, And includes a rotating hole 1220, a rotating frame 1230, a second rotating shaft 1240, and a second rotating hole 1250.

The first coaxial shaft 1210 is provided so as to be linearly projected on both sides of the upper side of the cylindrical portion 1110 and rotates the circuit box portion 1100 in a range of 180 degrees in either direction by the lower space of the virtual horizontal plane .

The first rotation hole 1220 is a hole (hole) formed in two straight lines on both sides of the rotation frame 1230, and the first rotation axis 1210 is inserted and rotated.

The rotating tongue 1230 has a first rotating hole 1220 in which the first rotating shaft 1210 is inserted in a rotating state in a straight line and forms an inner diameter larger than the outer diameter of the cylindrical portion 1110, Shape.

The first rotating shaft 1210 is inserted into the first rotating hole 1220 and the circuit box portion 1100 is installed on the upper portion of the circuit box portion 1100 so that the circuit box portion 1100 is moved in either direction It is possible to make a rotation in a range of 180 degrees.

The second coaxial shaft 1240 protrudes from the outer peripheral surface of the rotation frame 1230 in a direction perpendicular to the straight line formed by the first rotation hole 1220 and perpendicular to the horizontal plane.

The second coaxial shaft 1240 can pivot the tilting frame 1230 in the lower space of the virtual horizontal plane in a range of 180 degrees in the other direction perpendicular to the tilting direction of the first pivot 1210.

That is, the circuit box portion 1100 is rotated by 180 degrees in any one direction of the lower space of the horizontal plane by the first rotating shaft 1210, and 180 degrees in the other direction perpendicular to the second rotating shaft 1240 So that it is possible to freely rotate in a range of 360 degrees in the lower space of the virtual horizontal plane.

The second rotating hole 1250 is formed in a straight line on one side of the upper portion of the protective frame 1310 constituting the buffering portion 1300 and the second rotating shaft 1210 is inserted and installed in a rotating state.

The buffering part 1300 buffers the horizontal holding fiber-receiving device in two stages from an external shock or the like and has a protective frame 1310, a first buffer part 1320, a second buffer part 1330, a base frame 1340, .

The protective frame 1310 has a cylindrical shape which is longer than the length of the cylindrical portion 1110 and has a closed bottom and has a length sufficient to accommodate the length of the cylindrical portion 1110 or a height (1250). Although shown in the drawing as a cylindrical shape, it may include a triangular barrel having a closed bottom, a rectangular barrel, or a polygonal barrel. The protection frame 1310 directly protects the circuit box portion 1100 and the horizontal holding portion 1200 from physical and chemical impacts applied directly from the outside.

The first buffering part 1320 is configured to buffer the physical impact applied to the protection frame 1310 in the vertical direction in a first stage and includes a cushioning bracket 1321, a cushioning rod 1322, a cushioning spring 1323 A first damping nut 1324, a second damping nut 1325, and a third damping nut 1326. As shown in Fig.

The first cushioning part 1320 is provided with three or more equally spaced intervals so as to be balanced, and four cushioning parts 1320 are provided at equal intervals according to an example. .

The cushioning bracket 1321 has a rectangular shape of a flat plate and is provided at a selected portion on the same horizontal line as the middle portion or the middle portion in the vertical direction of the protective frame 1310. The cushioning bracket 1321 is protruded, A first hole 1327 of a diameter of a circle is formed so that the rod 1322 can smoothly be inserted and flowed.

The cushioning brackets 1321 are installed at equal intervals, but three or more cushioning brackets 1321 can be added or subtracted as needed. In the drawings, four cushioning brackets 1321 are installed. The first cushion 1210 and the second cushion 1240 are installed on the same vertical line at the positions where they are respectively installed.

The buffering rod 1322 is rod-shaped and has a length capable of penetrating and supporting between the first hole 1327 of the buffering bracket 1321 and the second hole 1328 of the base frame 1340, And is inserted into the hole 1327 and smoothly flows upward and downward, and a thread is formed at a portion of the upper end and a portion of the lower end, respectively.

The cushioning spring 1323 is inserted into the outer circumferential surface of the cushioning rod 1322 while the upper end is supported by the lower side of the cushioning bracket 1321 and the lower end is supported by the upper side of the base frame 1340 to generate elasticity.

The first cushioning nut 1324 is screwed to the thread formed at the upper end of the cushioning rod 1322 and the cushioning rod 1322 is moved upward in the first hole 1327 while limiting the flow range in the downward direction So that it can not be separated.

The second cushioning nut 1325 is screwed to the thread formed at the lower end of the cushioning rod 1322 at the upper side position of the second hole 1327 and the cushioning rod 1322 is fixed, And keeps it from moving in the downward direction of the hole 1327.

The third cushioning nut 1326 is screwed to the thread formed at the lower end of the cushioning rod 1322 at the lower side position of the second hole 1327 and the cushioning rod 1322 is fixed, So as not to move in the upward direction of the hole 1327.

That is, the buffering rod 1322 is fixed and fixed to the second hole 1327 by the second buffering nut 1325 and the third buffering nut 1326.

The buffering rod 1322 may be fixed to the second hole 1328 at the position of welding or the like without using the second buffering nut 1325 and the third buffering nut 1326, It is quite natural that a thread is formed on the lower end of the cushioning rod 1322 and screwed and fixed using a screw thread formed on the lower end of the cushioning rod 1322. [

The second buffering part 1330 is fixed to the center of the upper surface of the base frame 1340 and buffers the physical impact applied to the protection frame 1310 in the vertical direction in a second stage, Silicone, natural and artificial rubbers, paper, cloth, and other elastic materials, and the like.

Although the second buffering part 1330 is shown as a rectangular hexahedron, it is quite natural that the second buffering part 1330 can be formed of a circular cube or a polygonal cube.

The base frame 1340 is fixedly installed on the roof of the vehicle or the like, and a functional part fixedly installed on the roof of the vehicle or the like is not shown and described but is generally known. The base frame 1340 is fixed at a position corresponding to the position of the first hole 1327 A second hole 1328 having the same number as the number of the first hole 1327 is formed, and four second holes 1328 are shown in the figure, but can be added or subtracted if necessary.

Even if the attitude of the vehicle changes due to bending, inclination, obstacles, or the like of the road on which the vehicle is moving, the horizontal SAW receiving apparatus 1000 having the above-described structure always has the GSAS antenna 1150 constantly directed to the GSAS satellite direction, And correctly receives the geosite signal broadcasted from the mobile station 100 at a predetermined level.

In other words, the horizontal retention GS reception apparatus 1000 can be configured such that the ground where the reference point is installed and the observation target point (the moving point, the non-point) are installed in the static positioning system is very steep or curved, It is easy and quick to simply and stably form the horizontal plane of the upper plane 1130 so that the laser AS antenna 1150 always receives the laser signals accurately at a stable and constant level.

In addition, since the vibration generated by external factors such as topography is buffered in two steps, the horizontal holding fiber-reception device 1000 including the circuit box portion 1100 is protected from impact, vibration, etc., There is an advantage to guarantee.

Therefore, the time required for the static positioning can be shortened, and even in a region where the minimum observation time is relatively short, it can be quickly installed in the satellite direction to fill the minimum observation time. Since the geosynthetic signal is accurately received by the horizontal plane formation, It has the advantage of increasing the reliability and accuracy of information.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

10: Satellite group 12: Ground control station
14: User sector
1000: Horizontal Keeping GPS Receiver
1100: circuit box part 1110: cylindrical part
1130: upper plane 1150:
1170: Weight weight 1200: Horizontal holding part
1230: Rotating tee 1240: Second coaxial
1250: second rotating hole 1300: buffer portion
1310: Protection frame 1320: First buffer
1330: second buffer part 1340: base frame

Claims (1)

1. A three-dimensional position information measurement digital map production system using a geosite comprising a space part, a control part and a user part,
The user portion obtaining optical image information for each of the objects from each of the plurality of digital cameras attached to the vehicle; Processing each of the collected images with an electrical signal and storing each of the processed signals; Extracting a still image from each of the stored signals; Subdividing the still image into left and right still images for each frame; Extracting features of the left and right still images of each frame by using a digital photogrammetric technique and matching them; Determining an external facial expression element of each of the objects using the matched image; Determining three-dimensional ground coordinates of the objects using the determined external facial expressions; And transforming the ground coordinates into local coordinates using a coordinate transformation algorithm, wherein the local coordinates and the image information corresponding to the objects are converted into a database by introducing the inertial navigation system and the GPS into parameters, , The numerical photogrammetric technique is used as an area reference calibration method, and the area reference calibration method includes a phase correlation correction method and a least squares fitting method,
Wherein the fiber sheet installed in the vehicle is composed of a horizontal holding fiber reception device and includes a circuit box portion, a horizontal holding portion and a buffer portion,
Wherein the circuit box portion includes a cylindrical portion that is cylindrical, an upper flat surface that defines an upper flat surface of the cylindrical portion, and a grounding antenna that is fixed to a central portion of the upper flat surface and is fixed to a central portion of a lower flat surface of the cylindrical portion, And a weight for allowing the center of gravity to be formed in the lower portion,
Wherein the horizontal holding part is provided on a part of an upper side surface of the circuit box part in a rotating state so as to maintain the horizontal state of the circuit box part at a curved and inclined place and which rotates in a range of 180 degrees in either direction, A first rotating hole in which the first rotating shaft is installed in a rotating state and a plurality of rotating coils are installed in a straight line, a rotating shaft in which the first rotating shaft is formed in a straight line, and a second rotating shaft provided in a direction perpendicular to the first rotating shaft A second rotating shaft which rotates in a range of 180 degrees and in which a plurality of rotating coils are arranged in a straight line, and a second rotating hole in which the second rotating shaft is rotated and a plurality of the rotating coils are arranged in a straight line,
The cushioning part protects the horizontal holding fiber-receiving device from external shocks and vibrations in two stages. The protective frame protects the circuit box part from external physical and chemical impacts. The physical shock applied to the protection frame in one direction A second buffer for buffering the physical shock applied to the protective frame in two stages in a vertical direction, and a base frame for fixing the horizontal holding fiber-reception device to the vehicle,
Wherein the protection frame has a cylindrical shape which is longer than the length of the cylindrical portion in the up-and-down direction and has a closed bottom, forms a second turning hole at a length remaining to accommodate the length of the cylindrical portion or at a height from the inner bottom,
Wherein at least three of the first buffer parts are provided on the outer peripheral surface of the protective frame at even intervals,
The second buffer part is fixed to the central part of the upper surface of the base frame and buffs up the physical impact applied to the protection frame in the up and down direction. The second buffer part buffs physical shocks such as sponge, silicone, natural rubber, artificial rubber, It consists of one or more than one,
Wherein the base frame forms a second hole having a number equal to the number of the first hole at a position corresponding to the position of the first hole,
The first buffer
Wherein a first hole is formed at a central portion of the flat surface so as to protrude from a selected portion on the same horizontal line and smoothly inserted and flowed into the flat surface, A cushioning bracket having a shape;
A diameter that is inserted into the first hole and smoothly flows upward and downward and has a length that penetrates and supports between the first hole of the buffer bracket and the second hole of the base frame, A buffering rod formed and shaped like a rod;
A cushion spring inserted into the outer circumferential surface of the cushioning rod, the cushion spring having an upper end supported by a lower surface of the cushioning bracket and a lower end supported by an upper surface of the base frame to generate elasticity;
A first dampening nut screwed into a thread formed on the upper end of the cushioning rod so as to prevent the cushioning rod from moving in the upward direction of the first hole while limiting the flow range in the downward direction;
A second damper nut screwed to a thread formed at a lower end portion of the cushioning rod at an upper side position of the second hole and fixing the cushioning rod to prevent the cushioning rod from moving in a downward direction of the second hole; And
And a third cushioning nut screwed into a thread formed at a lower end portion of the cushioning rod at a lower side position of the second hole and fixing the cushioning rod to prevent the cushioning rod from moving in an upward direction of the second hole A 3D Mapping System for Measuring 3 - Dimensional Position Information Using.

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