KR101925366B1 - electronic mapping system and method using drones - Google Patents

Abstract

The present invention relates to a digital map production system using a drone and, more specifically, to a system for producing a digital map with data photographed by a drone flying above a road. The drone has a camera, GPS, and an inertial navigation system, measures a road while flying above the road, and uses the measurement as data for producing a digital map. According to the present invention, the digital map production system using a drone can collect accurate location information in the forest of buildings in which GPS signals are weak, precisely collect a center line and a boundary line displayed on the road as the drone flying above the road vertically, and easily collect information on surrounding buildings.

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an electronic mapping system and method using drones,

The present invention relates to a system and a method for producing an electronic map using a drone, and more particularly, to a system and a method for producing an electronic map using data taken by a drone flying on a road.

Autonomous driving car refers to a car that moves by itself without a driver driving. Autonomous driving car is attracting attention as the automobile industry develops, and it is involved in various fields as well as automobile companies to develop autonomous driving technology.

Among them, a precise electronic map capable of accurately expressing the actual position of the vehicle is required. A precision map is a map that contains detailed information about the roads the vehicle is running and has an error of 10 to 20 cm or less on actual roads because it is 10 times more accurate than the existing map.

The most important technique when producing precise electronic maps is to provide precise location of the vehicle. Information such as traffic lights, signs, road markings and various structures should be formed in three dimensions as well as the road center line and the boundary line, and the vehicle can safely run freely.

Generally, precision electronic maps are produced through ground surveying. (4S-Van) to produce precise electronic maps. The vehicle is equipped with a LiDAR sensor, a GPS, a GPS, a GPS, Inertial navigation system, camera, etc. are installed, and the precision electronic map is produced using the data obtained by operating the vehicle.

In order to produce a precision electronic map with a low error range, it is most important to obtain accurate position information based on the GPS signal. However, there is a problem that it is difficult to acquire accurate location information because the GPS signal is weak in the building forest where the buildings are dense.

1. Korean Patent Publication No. 10-2007-0028486 ("Automatic Navigation System and Method for Unmanned Vehicle Using Satellite Navigation Information ", 2007.03.12.)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a dron, a camera, a GPS, an inertial navigation device, and the like, And to provide an electronic map production system using drones as data.

A dron for producing an electronic map of the present invention comprises: a main body having flying means; A GPS receiver installed in the main body and receiving a GPS signal from an artificial satellite and calculating a position coordinate value of the main body based on the GPS signal; A photographing unit installed on the main body and photographing a road on which the main body moves; An altitude measurement unit installed in the main body and measuring a distance between the main body and the ground; And an inertial navigation device for controlling the tilting or moving direction of the main body so that the main body moves along the dividing line by a road or a lane, wherein the inertial navigation device receives the image photographed by the photographing section, And the moving direction of the main body is controlled according to the position of the dividing line with the road or the lane.
Also, the inertial navigation apparatus may measure the inclination of the main body and control the inclination of the main body so that the main body may fly at a predetermined inclination.
And a communication unit for transmitting data collected by the drones to the outside.
And a storage unit for storing data collected by the drone.
The data may be attitude information including a position coordinate value calculated by the GPS receiving unit, an image photographed by the photographing unit, an altitude value measured by the altimeter, and inclination of the drones collected by the inertial navigation apparatus .
The building further includes a building sensor for sensing a building located around the drones.
The electronic map production system using the drones of the present invention includes a dron for electronic map production; And a data processing server for producing an electronic map based on the data collected by the drones.
The data may be attitude information including a position coordinate value calculated by the GPS receiving unit, an image photographed by the photographing unit, an altitude value measured by the altimeter, and inclination of the drones collected by the inertial navigation apparatus .
The data processing server may further include: an image processing unit for digitizing the image photographed by the photographing unit; A coordinate synthesizer for synthesizing the position coordinate value calculated by the GPS receiver with the data obtained by the image processing unit; And a corrector for correcting the electronic map based on the data collected by the drone.
The correction unit corrects the electronic map to be the same as actual road information based on an altitude value of the dron measured by the altitude measurement unit and a slope value of the dron measured by the inertial navigation system.
A method of manufacturing an electronic map using a dron according to the present invention includes: a step of starting a flight of the dron; A position receiving step of receiving a GPS signal from an artificial satellite and calculating a position coordinate value of the dron on the basis of the GPS signal; A photographing step of photographing the photographing unit installed on the dron by taking a photograph along a dividing line on the road or a car; Controlling the moving direction of the dron according to the position of the road or the dividing line drawn by the photographing unit; And a map generating step of receiving data collected by the drone and generating an electronic map based on the data.
The step of controlling the moving direction may include: a tilt measuring step of measuring an inclination value of the drones by an inertial navigation system installed in the drones; A slope determining step of comparing a value measured in the slope measuring step with a predetermined value; And a tilt controlling step in which the inertial navigation apparatus controls the inclination of the drones when it is determined that the value measured in the inclination measuring step is equal to or greater than a predetermined value in the inclination determining step.
The data may include at least one of an attitude including a position coordinate value calculated by the GPS receiving unit, an image photographed by the photographing unit, an altitude value measured by the altitude measuring unit installed on the dron, and a slope of the drones collected by the inertial navigation apparatus Information.
The map generation step may include: an image processing step of mapping the image photographed in the photographing step; A coordinate synthesizing step of synthesizing the position coordinate values with data mapped in the image processing step; And a correction step of correcting the electronic map based on the data collected by the drone.
The correction step is characterized in that the electronic map is corrected based on the altitude of the dron measured by the altimeter and the tilt of the dron measured by the inertial navigation system to be the same as the actual road information .

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The electronic map production system using the dron according to the present invention has the effect of collecting accurate position information in a building forest where GPS signals are weak.

In addition, since it is flying above the vertical of the road, the center line and the boundary line displayed on the road can be precisely collected, and information about the surrounding buildings can be collected easily.

1 is a schematic diagram of a conventional electronic map production system
2 is a schematic diagram of an electronic map production system using a drone according to an embodiment of the present invention;
3 is a plan view of an electronic map production system using a drone according to an embodiment of the present invention.
4 is a front view of an electronic map production system using a dron according to an embodiment of the present invention;
5 is a dron block diagram of an electronic map production system using a dron according to an embodiment of the present invention
6 is a dron block diagram of an electronic map production system using a dron according to another embodiment of the present invention
FIG. 7 is a schematic diagram of an altitude measurement part of a precision electronic map production system using a drone according to an embodiment of the present invention.
8 is a schematic diagram of an electronic map production system using a dron according to another embodiment of the present invention
9 is a block diagram of an electronic map production system using a drone according to an embodiment of the present invention
10 is a photographing example of an electronic map production system using a dron according to an embodiment of the present invention
11 is a photographing example of an electronic map production system using a dron according to a modification of the embodiment of the present invention
12 is a photographing example of an electronic map production system using a drone according to still another modification of the embodiment of the present invention
13 is a flow chart of a method for producing a precise electronic map using a drone according to an embodiment of the present invention
FIG. 14 is a flowchart of a method for producing a precise electronic map using a drone according to a modification of the embodiment of the present invention
FIG. 15 is a flowchart of a mapping step in the method of producing a precision electronic map using a drone according to an embodiment of the present invention.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a schematic diagram of a conventional electronic map production system. As shown in FIG. 1, in order to produce an electronic map, a map is prepared using a vehicle C equipped with a camera, a GPS, and a Lidar sensor. It is most accurate that GPS takes the time taken for the signal emitted from the satellite 10 to reach the vehicle C to be the most important factor and receives the signal of the satellite 10 in a straight line.

However, when a signal is received in a building forest, a signal is hit by a building B in a high-rise building, so that the time required for the signal to arrive at the vehicle C is delayed and a signal coming straight from the satellite 10 There is a problem that the accuracy of the electronic map is deteriorated as a result, because the signal reflected by the building B is also received by the vehicle C.

In order to solve the above problems, an electronic map production system using a dron according to the present invention is described.

2 is a schematic diagram of an electronic map production system using a drone according to an embodiment of the present invention. As shown in FIG. 2, the drone 100 travels through the building forest and collects data necessary for the electronic map production. At this time, since the drone 100 collects data necessary for manufacturing an electronic map at a higher altitude than the vehicle C, signals transmitted by the satellite 10 can be received without colliding with the building B.

Therefore, since the drone 100 receives the straight-line signal from the satellite 10, it is possible to produce an electronic map with high accuracy.

3 is a plan view of an electronic map production system using a drone according to an embodiment of the present invention. As shown in FIG. 3, the drones 100 are flying the road between the buildings B, as shown in FIG. It is to be understood that the road is a two-lane road to illustrate one embodiment of the present invention, and that the drones 100 fly along the centerline of the roadway to illustrate one embodiment of the present invention.

The drone 100 moves along the center line of the road or the dividing line of the lane, and the photographing unit 120 is installed on the dron 100. The drones 100 fly and the image taken by the photographing unit 120 on the lane dividing line and photographed is used as data required for electronic map production later. Accordingly, it is important that the drones 100 fly without being tilted to accurately photograph the position of the dividing line by the lane. This will be described in more detail with reference to FIG.

만큼 기울어진 상태로 비행하는 상기 드론(100)을 도시하고 있다. 정상적으로 비행하는 상기 드론(100)의 상기 촬영부(120)가 촬영한 영상은 도 4의 (a)에 도시된 바와 같이 차로 구분선이 중앙에 위치하고 있다.4 is a front view of an electronic map production system using a drone according to an embodiment of the present invention. 4 (a) shows the drones 100 that are flying normally without tilting, and FIG. 4 (b)

The drones 100 are shown in the state of FIG. The image taken by the photographing unit 120 of the drones 100 flying normally is located at the center of the dividing line as shown in FIG. 4 (a).

만큼 기울어진 상태로 비행하는 상기 드론(100)의 상기 촬영부(120)가 촬영한 영상은 도 4의 (b)에 도시된 바와 같이 차로 구분선이 중앙에 위치하지 않고 좌측으로 치우쳐져 촬영된다.On the other hand,

The image taken by the photographing unit 120 of the drones 100 which are flying at a tilted angle as shown in FIG. 4B is photographed while being shifted to the left rather than being located at the center as shown in FIG. 4 (b).

This is because the inertial navigation device 140 is installed on the dron 100 so as to detect an inclination of the dragon 100 and to control the dragon 100 to fly normally when an electronic map is produced Should be installed. The components installed in the drones 100 will be described in more detail with reference to FIGS. 5 and 6. FIG.

FIG. 5 is a dron block diagram of an electronic map production system using a drone according to an embodiment of the present invention. 5, the drones 100 include a GPS receiver 110 receiving GPS signals from the satellite 10 and calculating position coordinates of the drones 100 based on the received GPS signals, An altimeter 130 for measuring a distance between the drones 100 and the ground surface, a drones 100 for measuring the distance between the drones 100 and the ground, The inertial navigation device 140 for controlling the tilting or moving direction of the drones 100 to move along the dividing line by the road or the lane and a communication unit 150 for transmitting data collected by flying the drones 100 to the outside, .

FIG. 6 shows a dron block diagram of an electronic map production system using a dron according to another embodiment of the present invention. 6, the dron 100 includes the GPS receiver 110, the photographing unit 120, the altimeter 130, and the inertial navigation device 140. The drones 100, 100 differs from the drones 100 of FIG. 5 in that it includes a storage unit 160 for storing collected data.

The GPS receiving unit 110 receives a signal from the satellite 10 and derives a position coordinate value of the drones 100 based on the signal. The photographing unit 120 is installed in the drones 100 as described above, and photographs a dividing line by road. The altitude measurement unit 130 measures a distance between the ground and the drones 100. The altitude measurement unit 130 will be described in more detail with reference to FIG. The inertial navigation device 140 is provided to maintain the posture of the drones 100 and measures the inclination of the drones 100 as described above with reference to FIG. It controls the flight.

The communication unit 150 and the storage unit 160 are provided to transmit or store data collected by flying the drones 100 to the outside. The data is transmitted to the drones 100, The position coordinate value of the drones 100 measured by the inertial navigation device 140 and the distance between the drones 100 and the ground measured by the altimeter 130, It is preferable that the slope value of the drone 100 is the slope value.

The communication unit 150 and the storage unit 160 are installed in the drones 100. The communication unit 150 and the storage unit 160 are installed in the drones 100, .

7 is a schematic diagram of an altitude measurement unit of the electronic map production system using a drone according to an embodiment of the present invention. Since the drone 100 is flying at a height similar to the height of the high-rise building, the road and lane dividing line is measured to be smaller than the ground level. Therefore, it is necessary to know the distance between the drones 100 and the ground so that the same electronic map as the actual road can be produced.

The dron 100 of the present invention includes an altitude measurement unit 130 for measuring the distance between the drones 100 and the ground. 7, since the height of the road is not constant, the distance between the drones 100 and the ground continuously changes while the drones 100 are flying. Therefore, the altimeter 130 measures the height of the dron 100, The distance between the grounds must be collected in real time.

The altimeter 130 may be a laser range finder. The laser distance measuring device measures the distance by measuring the time of returning the reflected laser beam after emitting the laser beam to the object, thereby easily measuring the distance between the drone 100 and the ground.

값을 수집한다.7, assuming that the drones move from left to right, and the road is an uphill road, the altitude measurement unit 130 determines that the drones 100 are moving in real time

Collect the values.

8 is a schematic diagram of an electronic map production system using a drone according to another embodiment of the present invention. The drones 100 may be installed in addition to the GPS receiving unit 110, the photographing unit 120, the altimeter 130, the inertial navigation device 140, the communication unit 150 and the storage unit 160, And may further comprise a detection sensor.

The building sensing sensor is provided to sense the surrounding buildings by flying the drones 100. The distance between the building B and the drones 100 is measured using the building sensing sensor, 100 of the building B can be determined to be on a regular basis and the building sensor may be provided as a separate camera so that the dron 100 can photograph the building B and fly.

9 is a block diagram of an electronic map production system using a drone according to an embodiment of the present invention. The data processing server 200 produces an electronic map based on the data collected by the drones 100. As described above, the data is transmitted to the GPS receiver 110, A distance between the drones 100 and the ground measured by the altimeter 130 and a distance between the drones 100 and the ground measured by the inertial navigation apparatus 140, Is a slope value.

At this time, the data processing server 200 can receive the data from the communication unit 150 in real time. After finishing the flight of the drone 100, the data stored in the storage unit 160 is stored in the storage unit 160, You can also create maps.

 The data processing server 200 includes an image processing unit 210, a coordinate synthesizing unit 220, and a correcting unit 230. The image processing unit 210 maps the photographed image by the photographing unit 120 of the drones 100 flying along the dividing line by road or by car. The coordinate synthesizing unit 220 synthesizes the position coordinate value of the drones 100 calculated by the GPS receiver 110 with the data rendered by the image processing unit 210.

After the coordinate synthesizer 220 synthesizes the position coordinate values with the map data, the corrector 230 corrects the electronic map in order to increase the accuracy of the electronic map.

At this time, the corrector 230 may correct the electronic map to be the same as an actual road based on the distance between the drones 100 and the ground measured by the altimeter 130. Also, as described above with reference to FIG. 4, when the drone 100 is inclined at a predetermined angle, an error occurs when the electronic map is produced.

As described above, the inertial navigation device 140 can control the inclination of the drones 100 to maintain the normal drones of the drones 100 and fly. Also, since the tilt value of the drone 100 is known, the corrector 230 can correct the electronic map.

In addition, when the position coordinate value of the drones 100 is not collected, the location of the drones 100 may be determined based on the building information taken by the building sensor.

An example in which the drones 100 fly along the road and the photographing unit 120 photographs will be described with reference to FIGS. 10 to 12. FIG. At this time, it is assumed that the road is a six-lane road.

FIG. 10 shows an example of photographing of an electronic map production system using a drone according to an embodiment of the present invention. As shown in FIG. 10, the drones 100 are flying along the center line of the road. At this time, it can be seen that the image photographed by the photographing unit is photographed by the center line of the road, the lane dividing line, and the edge line of the road. Although the embodiment of FIG. 10 has an advantage in that the road can be photographed by one of the drills 100, there is a problem that an error of the electronic map may occur to a large extent.

Therefore, a plurality of the drones 100 may be used to produce the electronic map.

FIG. 11 is a view showing an example of photographing of an electronic map production system using a dron according to a modification of the embodiment of the present invention. As shown in FIG. 11, one of the drones 100 is flying in one lane. At this time, the drones 100 preferably fly at the center of the lane. If the road is an n-lane road, it is preferable that the drones 100 are also provided with n races.

When the drone 100 observes an image photographed by one of the drones 100, when the drones 100 fly along the center of the lane and see the photographed image, a dividing line drawn on both sides of the lane on which the dron 100 travels It can be seen that it is photographed.

FIG. 12 shows an example of photographing of an electronic map production system using a drone according to another modification of the embodiment of the present invention. As shown in FIG. 12, the drones 100 fly along the center line, the lane dividing line, and the edge line of the road. Accordingly, when the road is an n-lane road, it is preferable that the drones 100 are provided with n + 1 cars.

When one of the drones 100 observes the photographed image, it can be seen that the dividing line is located at the center of the vehicle.

11 and 12, when the road is photographed, data can be collected by the number of lanes or the number of lanes + 1, so that the electronic map with high accuracy can be produced.

A method of manufacturing the electronic map will be described in more detail with reference to FIGS. 13 to 15. FIG.

FIG. 13 is a flowchart of a method of manufacturing an electronic map using a drone according to an embodiment of the present invention. 13, the GPS receiver 110 installed in the drone 100 receives the GPS signal from the satellite 10, and the GPS receiver 110 installed in the drone 100 receives the GPS signal, And a position receiving step (S110) for calculating a position coordinate value of the drones (100) based on the signal.

In addition, the photographing unit 120 travels along the dividing line to the road or the car, and proceeds to photographing the road (S120). At this time, it is preferable that the position receiving step (S110) and the photographing step (S120) proceed simultaneously.

The map generation step S130 of producing the electronic map in the data processing server 200 is performed based on the data collected in the position receiving step S110 and the photographing step S120, Will be described later in more detail.

FIG. 14 is a flowchart of a method of manufacturing an electronic map using a drone according to a modification of the embodiment of the present invention. 14, the GPS receiver 110 installed in the drone 100 receives the GPS signal from the satellite 10, and the GPS receiver 110 installed in the drone 100 receives the GPS signal, A position receiving step (S210) for calculating a position coordinate value of the drones (100) based on a signal is performed.

In addition, the photographing unit 120 travels along the dividing line to the road or the car and proceeds to photographing the road (S220). At this time, it is preferable that the position receiving step (S210) and the photographing step (S220) proceed simultaneously.

In addition, it is preferable that the inclination measuring step S230 in which the inertial navigation device 140 measures the inclination of the drones 100 is performed simultaneously with the position receiving step S210 and the photographing step S220.

The inertial navigation apparatus 140 measures a tilt value of the drones 100 in the tilt measuring step S230 and the drones 100 measured by the inertial navigation apparatus 140 in the tilt measuring step S230. And a slope determining step (S240) for comparing the slope value of the reference slope with a predetermined slope value.

If it is determined in step S240 that the slope of the drones 100 measured by the inertial navigation system 140 is greater than or equal to a preset slope value, The control proceeds to step S250 in which the drones 100 are allowed to fly on a regular basis.

FIG. 15 is a flow chart of the mapping process of the electronic map making method using the drone according to an embodiment of the present invention. As shown in FIG. 15, the map generation step S130 includes an image processing step S131 of mapping the image photographed by the image processing unit 210 to a photographed image, a step S131 of mapping the image photographed in the image processing step S131, A coordinate synthesizing step (S132) in which the coordinate synthesizing unit 220 synthesizes the position coordinate value with data and a correction (correction) process of correcting the electronic map in the correcting unit 230 based on the data collected by the drones 100 The process proceeds to step S133.

The data may include at least one of a position coordinate value of the drones 100 calculated by the GPS receiving unit 110, an image photographed by the photographing unit 120, The distance between the drones 100 and the ground, and the inclination of the drones 100 measured by the inertial navigation device 140.

The correction step S133 is a step in which the coordinate synthesizing unit 220 synthesizes the position coordinate values with the map data in the coordinate synthesizing step S132 and then the correction unit 230 ) Corrects the electronic map.

The correction step S133 may correct the electronic map to be the same as the actual road based on the distance between the drones 100 and the ground measured by the altimeter 130 as described above. Also, as described above with reference to FIG. 4, when the drone 100 is inclined at a predetermined angle, an error occurs when the electronic map is produced.

As described above, the inertial navigation device 140 can control the inclination of the drones 100 to maintain the normal drones of the drones 100 and fly. Also, since the tilt value of the drone 100 is known, the corrector 230 can correct the electronic map.

In addition, when the position coordinate value of the drones 100 is not collected, the location of the drones 100 may be determined based on the building information taken by the building sensor.

The technical idea should not be construed as being limited to the above-described embodiment of the present invention. 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. Accordingly, such modifications and changes are within the scope of protection of the present invention as long as it is obvious to those skilled in the art.

10 satellites
100 drones
110 GPS receiver
120 Shooting section
130 altitude measurement section
140 Inertial Navigation System
150 communication unit
160 storage unit
200 data processing server
210 image processing unit
220 coordinate synthesis unit
230 correction unit
Building B
C vehicle

Claims (16)

A body having flight means;
A GPS receiver installed in the main body and receiving a GPS signal from an artificial satellite and calculating a position coordinate value of the main body based on the GPS signal;
A photographing unit installed on the main body and photographing a road on which the main body moves;
An altitude measurement unit installed in the main body and measuring a distance between the main body and the ground; And
And an inertial navigation device for controlling the tilting or moving direction of the main body so that the main body moves along the dividing line by road or by a car,
Wherein the inertial navigation apparatus receives the image photographed by the photographing section and controls the moving direction of the main body according to the position of the road or the dividing line drawn by the photographing section.
The apparatus of claim 1, wherein the inertial navigation apparatus comprises:
Wherein the slope of the main body is measured and the slope of the main body is controlled so that the main body flies at a predetermined slope.
delete The method according to claim 1,
A communication unit for transmitting data collected by the drone to the outside;
Further comprising the step of:
The method according to claim 1,
A storage unit for storing data collected by the drone;
Further comprising the step of:
6. The method according to claim 4 or 5,
An attitude information including a position coordinate value calculated by the GPS receiving unit, an image photographed by the photographing unit, an altitude value measured by the altitude measurement unit, and a slope of the drones collected by the inertial navigation apparatus. Dragon Drone.
The method according to claim 1,
A building detection sensor for sensing buildings located around the drones;
Further comprising the step of:
A dron for electronic map production according to claim 1; And
A data processing server for producing an electronic map based on the data collected by the drone;
Wherein the electronic map generating system comprises:
9. The method of claim 8,
A position coordinate value calculated by the GPS receiving unit, an image photographed by the photographing unit, an altitude value measured by the altimeter, and attitude information including a slope of the drones collected by the inertial navigation apparatus. Electronic Mapping System.
The data processing system according to claim 9,
An image processing unit for converting the photographed image into an electronic map;
A coordinate synthesizer for synthesizing the position coordinate value calculated by the GPS receiver with the data obtained by the image processing unit; And
A corrector for correcting the electronic map based on the data collected by the drone;
Wherein the electronic map generating system comprises:
11. The image processing apparatus according to claim 10,
Wherein the electronic map is corrected based on an altitude value of the dron measured by the altimeter and a slope value of the dron measured by the inertial navigation system so that the electronic map is the same as the actual road information. .
In an electronic map making method using a drone,
A starting step of the drones starting to fly;
A position receiving step of receiving a GPS signal from an artificial satellite and calculating a position coordinate value of the dron on the basis of the GPS signal;
A photographing step of photographing the photographing unit installed on the dron by taking a photograph along a dividing line on the road or a car;
Controlling the moving direction of the dron according to the position of the road or the dividing line drawn by the photographing unit; And
A data processing server receiving the data collected by the drone and producing an electronic map based on the data;
Wherein the method comprises the steps of:
13. The method of claim 12, wherein controlling the moving direction comprises:
A tilt measuring step of measuring an inclination value of the drones by an inertial navigation system installed in the drones;
A slope determining step of comparing a value measured in the slope measuring step with a predetermined value; And
A slope control step in which the inertial navigation device controls a slope of the drones when it is determined in the slope determining step that the measured value in the slope measuring step is greater than or equal to a preset value;
Wherein the method comprises the steps of:
14. The method of claim 13,
A position coordinate value calculated by the GPS receiving unit, an image photographed by the photographing unit, an altitude value measured by the altitude measuring unit installed on the drones, and attitude information including the slope of the drones collected by the inertial navigation apparatus. Electronic map making method using drones.
15. The method according to claim 14,
An image processing step of mapping the image photographed in the photographing step;
A coordinate synthesizing step of synthesizing the position coordinate values with data mapped in the image processing step;
A correction step of correcting the electronic map based on data collected by the drone;
Wherein the method comprises the steps of:
16. The method of claim 15,
Wherein the electronic map is corrected based on an altitude value of the dron measured by the altitude measurement unit and a slope value of the dron measured by the inertial navigation system so that the electronic map is the same as the actual road information .

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