KR20170090828A - Measurement system Based on Global Navigation Satellite System - Google Patents

Measurement system Based on Global Navigation Satellite System Download PDF

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Publication number
KR20170090828A
KR20170090828A KR1020160011681A KR20160011681A KR20170090828A KR 20170090828 A KR20170090828 A KR 20170090828A KR 1020160011681 A KR1020160011681 A KR 1020160011681A KR 20160011681 A KR20160011681 A KR 20160011681A KR 20170090828 A KR20170090828 A KR 20170090828A
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KR
South Korea
Prior art keywords
coordinate
instrument
position coordinate
gnss
surveying
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KR1020160011681A
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Korean (ko)
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KR101839342B1 (en
Inventor
이임건
허경용
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동의대학교 산학협력단
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Priority to KR1020160011681A priority Critical patent/KR101839342B1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • B64C2201/127—
    • B64C2201/145—

Abstract

A GNSS-based measurement system according to an embodiment of the present invention comprises: a measurement device disposed at a position determination point and determining first position coordinates of the position determination point based on GPS information; and an air vehicle receiving first position coordinates from the measurement device, moving to second position coordinates corresponding to the first position coordinates based on the GPS information, and determining third position coordinates based on the GPS information by detecting the measurement device and moving upward in a direction perpendicular to the measurement device.

Description

GNSS-based surveying system {

The present invention relates to a GNSS-based surveying system. And more particularly, to a surveying system for precisely measuring location information of a surveying instrument on the basis of GNSS satellites and public mobile bodies.

Surveying refers to the technique of determining the position of each point on the surface and measuring the position, shape, and area of any part. Surveying technology has a long history and has been developed for the purpose of reducing the area of the land, predicting the overflow of the river, and building the building. In addition, triangulation techniques have been developed to more accurately measure distances to distant objects, and today's surveying techniques are based on satellite-based GPS for more accurate distance measurements, A measuring apparatus is being developed.

A method of positioning with coordinate transformations on surveyed points using a surveying device is disclosed in the prior art US 2009/0082992. The prior art can be derived as coordinates for the unique position of the measuring device or as a free station for fixed measuring points known as reference points, the location of new points to be measured.

Global Positioning System (GPS), which is used to improve accuracy in surveying, is a global satellite navigation system that is currently fully operational with GLONASS.

The method of calculating the position using GPS requires a precise clock for calculating coordinates using signals transmitted from satellites, and the GPS satellites are equipped with high-precision atomic clocks. The GPS receiver is equipped with an atomic clock or a clock using a crystal oscillator depending on the required precision. Then, when the GPS receiver detects the C / A code sent from the satellite to the carrier, it compares the clock of the GPS receiver with the clock of the GPS receiver through the navigation message received from the satellite, and generates the same code to measure the time difference between the two codes . By multiplying the time difference of the two measured codes by the propagation velocity, the distance between the GPS satellite and the receiving period is obtained. However, the distance actually obtained by the errors caused by various causes is not the actual distance but the pseudorange. And the signal received from the GPS also contains a navigation message. The pseudoranges are corrected using various coefficients contained in the navigation message.

Causes of position calculation errors include atmospheric errors, multipath errors, astronomical power, and satellite clock errors. Among these, the error according to the multipath is an error due to the reflection and reflection of the signal transmitted from the satellite due to the topographic object such as the building near the receiver.

Especially, as shown in FIG. 1, there is a problem that the number of visible satellites is insufficient in the area such as a downtown area where high-rise buildings are concentrated, and the GPS error due to the disconnection of the position correction signal and the multipath occurs.

United States Patent Application Publication No. 2009/0082992

Embodiments of the present invention can correct errors that occur when determining the position coordinates in an area where a large multipath error may occur, such as an urban area, obtain accurate position coordinates at a plurality of positioning points A GNSS-based surveying system, a surveying method surveying instrument, a public mover, and a driving method thereof, which can precisely measure the inclination angle of the ground and acquire a background image viewed from the upper part of the building before the building is built .

A GNSS-based surveying system according to an embodiment of the present invention includes a surveying mechanism disposed at a location determining point to determine a first location coordinate of the location point based on GPS information; And a controller for receiving the first positional coordinate from the measuring mechanism and moving to a second positional coordinate corresponding to the first positional coordinate based on the GPS information, And determining a third positional coordinate based on the GPS information by moving the GNSS-based measurement system.

The GNSS-based surveying system according to an embodiment of the present invention further includes a GNSS-based surveying system that includes a photographing unit for photographing the ground and detects the surveying instrument based on the image photographed by the photographing unit You may.

Further, the measurement instrument of the GNSS-based measurement system according to the embodiment of the present invention may include a light source portion, and the photographing portion may provide a GNSS-based measurement system for detecting light from the light source portion and detecting the measurement instrument .

Also, the light source of the GNSS-based measurement system according to an embodiment of the present invention may provide a GNSS-based measurement system that periodically emits light.

The surveying instrument of the GNSS-based surveying system according to an embodiment of the present invention also includes a GNSS-based surveying system that receives the third location coordinates and changes the first location coordinates of the location points to the third location coordinates . ≪ / RTI >

The GNSS-based measurement instrument according to an embodiment of the present invention further includes a first receiver for receiving GPS information; A first processor for calculating a first position coordinate of a positioning point at which the measuring instrument is located based on the GPS information; And a first communication unit transmitting the first positional coordinates to the air vehicle and receiving the corrected position coordinates received from the air vehicle located in the vertical upper region of the measurement instrument It is possible.

The GNSS-based surveying instrument according to an embodiment of the present invention further comprises a GNSS-based surveying instrument, further comprising the light source portion, for detecting the light from the light source and moving to a vertical upper region of the surveying instrument You may.

In addition, in the GNSS-based measurement instrument according to an embodiment of the present invention, the light source unit may provide a GNSS-based measurement instrument that periodically emits light.

Further, in the GNSS-based surveying instrument according to the embodiment of the present invention, the first communication unit receives the changed position coordinates, and the first processor changes the first position coordinate of the positioning point to the changed position coordinate GNSS-based surveying equipment may be provided.

Further, the first position coordinate of the GNSS-based measuring instrument according to an embodiment of the present invention includes X, Y, Z axis coordinate values of a three-dimensional coordinate system, Y axis coordinate values to the public mobile body.

The first processor of the GNSS-based surveying instrument according to an embodiment of the present invention changes X, Y axis coordinate values of the first position coordinates of the positioning point to X, Y axis coordinate values of the changed position coordinates GNSS-based surveying equipment.

The GNSS-based public moving body according to an embodiment of the present invention is a public moving body including: a photographing unit for photographing the ground; A second communication unit for communicating with the surveying instrument; And a second processor for determining a position coordinate based on the GPS information, wherein the first position coordinate determined by the GPS information is received from a measuring mechanism located at the positioning point, and based on the GPS information, Moving to the second position coordinate corresponding to the coordinate and moving to the upper vertical region of the measuring instrument based on the detection result of the measuring mechanism of the photographing section and determining a third position coordinate based on the GPS information Of the public mobile body.

Further, in the GNSS-based public moving object according to an embodiment of the present invention, the photographing unit compares a previous image frame with a current image frame, and detects light emitted from the surveying instrument and moves to an upper vertical region of the surveying instrument. Of the public mobile body.

Further, in the GNSS-based public moving vehicle according to the embodiment of the present invention, the GNSS-based public moving vehicle that transmits the third positional coordinates to the instrument position so that the measuring instrument changes the first positional coordinate to the third positional coordinate .

The first location coordinates of the GNSS-based public moving object according to an embodiment of the present invention include X, Y, and Z axis coordinate values of a three-dimensional coordinate system, and the second communication unit may receive coordinates A GNSS-based public moving object receiving coordinate values of the X and Y axes of coordinates may be provided.

Further, in the GNSS-based public moving object according to the embodiment of the present invention, the surveying instrument changes the X, Y axis coordinate values of the first position coordinates of the positioning point to the X, Y axis coordinate values of the third position coordinates Based GNSS-based public transport.

A GNSS-based measurement method according to an embodiment of the present invention includes: a first position coordinate determination step of determining a first position coordinate of a positioning point where a surveying instrument is located using GPS information; A first position coordinate transmitting step of transmitting the first position coordinate to a public moving body; A second position coordinate moving step of moving to a second position coordinate corresponding to the first position coordinate using the GPS information; A surveying instrument detecting step in which the public moving body detects the surveying instrument; A public moving body position matching step in which the public moving body moves in an upper vertical direction of the measuring mechanism based on the detection result; And a third position coordinate determining step of determining a third position coordinate of the public moving body located in an upper vertical direction of the measuring instrument.

Further, in the GNSS-based measurement method according to the embodiment of the present invention, the surveying instrument detecting step in which the public moving body detects the surveying instrument includes the steps of: capturing light emitted from the surveying instrument; And detecting the measurement instrument based on the photographed image.

Further, in the GNSS-based measurement method according to an embodiment of the present invention, the step of detecting the surveying instrument based on the photographed image may include comparing the current and previous image frames to detect the light and detecting the surveying instrument GNSS-based methods of measurement may be provided.

In the GNSS-based measurement method according to an embodiment of the present invention, the surveying instrument may also provide a GNSS-based measurement method for periodically emitting the light.

Further, in the GNSS-based measurement method according to an embodiment of the present invention, the public mobile terminal may further include transmitting the third positional coordinates to the instrument interface.

In the GNSS-based measurement method according to an embodiment of the present invention, the surveying instrument further includes a position coordinate correcting step of changing the first position coordinate of the positioning point to the received third position coordinate, And the like.

Further, in the GNSS-based measurement method according to the embodiment of the present invention, the first position coordinates include X, Y and Z axis coordinate values of a three-dimensional coordinate system, and the first position coordinates In the position coordinate transmission step, the measurement instrument may provide a GNSS-based measurement method of transmitting coordinate values of the X and Y axes of the first position coordinates to the public mobile body.

Further, in the GNSS-based measurement method according to the embodiment of the present invention, the surveying instrument changes the X, Y axis coordinate values of the first position coordinates of the positioning point to the X, Y axis coordinate values of the third position coordinates GNSS-based methods of measurement.

Further, a method of driving a GNSS-based measurement instrument according to an embodiment of the present invention includes: determining a first position coordinate of a positioning point where a surveying instrument is located based on GPS information; Transmitting the first positional coordinates to a public air vehicle; And receiving modified position coordinates received from the airborne vehicle located in a vertical upper region of the surveying instrument.

The method of driving a GNSS-based surveying instrument according to an embodiment of the present invention may further include the step of periodically emitting the light so that the air vehicle detects light and moves to a vertical upper region of the surveying instrument, Based surveying mechanism may be provided.

The GNSS-based measurement instrument driving method according to an embodiment of the present invention may further include changing the first position coordinate of the positioning point to the received changed position coordinate, A method of driving a surveying instrument may be provided.

Further, in the driving method of the GNSS-based surveying instrument according to the embodiment of the present invention, the first position coordinates include X, Y and Z coordinate values of the three-dimensional coordinate system, and the first position coordinates are transmitted to the air- The coordinate values of the X and Y axes of the first position coordinates are transmitted to the public moving body.

Further, in the driving method of the GNSS-based surveying instrument according to the embodiment of the present invention, the first position coordinates include X, Y and Z coordinate values of the three-dimensional coordinate system, and the first position coordinates are transmitted to the air- Wherein the coordinates of the X and Y axes of the first position coordinates are transmitted to the public mobile body in the step of changing the first position coordinates of the positioning point to the received changed position coordinates, And changing the X, Y axis coordinate values of the first position coordinates of the determination point to the X, Y axis coordinate values of the changed position coordinates.

In addition, the method of driving a GNSS-based public moving vehicle according to an embodiment of the present invention includes: receiving from a surveying instrument a first position coordinate of a positioning point where a surveying instrument is located; Moving to a second position coordinate corresponding to the first position coordinate based on GPS information; Detecting the measuring instrument; Moving to a position in the vertical upper direction of the measuring instrument based on the detection result of the measuring mechanism; And determining a third positional coordinate at a position in the vertical upward direction of the measurement instrument based on the GPS information.

Further, in the method of driving a GNSS-based public moving body according to an embodiment of the present invention, the step of detecting the measurement instrument includes the steps of: capturing light emitted from the measurement instrument; And comparing the current and previous image frames of the photographed image with each other, and detecting the measurement mechanism based on the comparison result of the current and previous image frames of the photographed image.

Further, in the method of driving a GNSS-based public moving body according to an embodiment of the present invention, the step of detecting the surveying mechanism may include the step of detecting the third positional coordinate so that the measuring mechanism changes the first positional coordinate to the third positional coordinate, To the measuring instrument, and a method of driving the GNSS-based public moving body may be provided.

Also, the inclination angle measurement method based on the GNSS-based measurement method according to an embodiment of the present invention includes: a surveying instrument moving step of moving a surveying instrument to a plurality of positioning points; A public moving body moving step of moving the public moving body horizontally in a vertical upper area of the surveying instrument in correspondence with a moving direction of the surveying instrument; A distance calculating step of calculating a distance between the surveying instrument and the public moving object based on ultrasonic waves transmitted from the public moving object and reflected from the surveying device; And calculating the inclination angle of the ground on the path on which the surveying instrument has moved based on the calculated distance, based on the GNSS-based measurement method.

A background area image generation method based on a GNSS-based measurement method according to an embodiment of the present invention is a method of generating a background area image by moving a surveying instrument to a plurality of positioning points and photographing an area facing a side surface of the surveying instrument ; A public moving body moving step of moving the public moving body horizontally in a vertical upper area of the surveying instrument in correspondence with a moving direction of the surveying instrument; A photographing step of photographing a public moving object located in a vertically upper area of the surveying instrument in a vertical direction and photographing a region facing the side of the public moving object; And a background image acquiring step of acquiring a background image viewed from the outside in an internal space formed by connecting the plurality of positioning points based on the image picked up by the surveying mechanism and the public moving body A method of generating a background region image may be provided.

The GNSS-based surveying system according to the embodiment of the present invention can correct an error that occurs when determining the location coordinates in a region where a large multipath error such as an urban area can occur.

In addition, accurate positional coordinates at a plurality of positioning points can be obtained in accordance with the movement of the measuring instrument.

Also, the inclination angle of the ground surface can be precisely measured through the movement in the state where the surveying instrument and the public moving body are matched in the vertical direction.

You can also obtain a background image from the top of the building before it is erected.

1 is a conceptual diagram illustrating a GNSS-based surveying method.
2 is a diagram illustrating a GNSS-based surveying system in accordance with an embodiment of the present invention.
3 is a detailed configuration diagram of a control device for controlling the public moving body.
4 is a detailed configuration diagram of a control device for controlling the overall operation of the surveying instrument.
FIG. 5 is a view showing a first concentric circle taking into account a measuring instrument and an error disposed at a positioning point.
6 is a view showing a public moving body and a second concentric circle as a photographing region.
7 is a view showing a method of determining a position coordinate according to a surveying instrument and a public moving body.
8 is a view showing a moving method of the public moving body.
9 is a detailed configuration diagram of a public mobile body according to an embodiment of the present invention.
10 is a view showing a support body of the public mobile body.
11 is a detailed configuration diagram of a surveying instrument according to an embodiment of the present invention.
12 is a view showing a method of measuring a tilt.
13 is a diagram illustrating a background image capturing method using a public moving object and a surveying instrument according to an embodiment of the present invention.

Hereinafter, a GPS-based surveying system according to an embodiment of the present invention will be described in detail with reference to the drawings. The following embodiments are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the embodiments described below, but may be embodied in other forms. In the drawings, the size and thickness of an apparatus may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. However, it should be understood that the present invention is not limited to the embodiments disclosed herein but may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification. The dimensions and relative sizes of the layers and regions in the figures may be exaggerated for clarity of illustration.

The terminology used herein is for the purpose of describing embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprise "and / or" comprising ", as used in the specification, means that the presence of stated elements, Or additions.

       <Survey system for positioning coordinates of positioning point>

2 is a diagram illustrating a GNSS-based surveying system in accordance with an embodiment of the present invention. And Fig. 3 is a detailed configuration diagram of a control device for controlling the public moving body. And Fig. 4 is a detailed configuration diagram of a control device for controlling the overall operation of the surveying instrument.

2 to 4, a GNSS-based measurement instrument 300 according to an embodiment of the present invention includes a first receiver 280 for receiving GPS information, a second receiver 280 for receiving the GPS information, A first processor (290) for calculating a first positional coordinate of a positioned positioning point and a second processor for transmitting the first positional coordinate to the air vehicle (200) And a first communication unit 210 receiving the corrected position coordinates received from the first communication unit 200. The airborne vehicle 300 may further include the light source unit 320 to detect light from the light source unit 320 and move to a vertical upper region of the metering device 300. The light source 320 may periodically emit light.

In addition, the first communication unit 210 receives the changed position coordinates, and the first processor 290 changes the first position coordinates of the positioning point to the changed position coordinates, It is possible to correct the error of the coordinates and determine the accurate position information of the positioning point. The first communication 210 includes coordinate values of the X and Y axes of the first position coordinate system and coordinate values of the X, Y, and Z axes of the three-dimensional coordinate system. Lt; / RTI &gt; The first processor 290 can correct the error of the first position coordinates by changing the X, Y axis coordinate values of the first position coordinates of the positioning point to the X, Y axis coordinate values of the changed position coordinates have.

The GNSS-based public mobile terminal 200 according to an embodiment of the present invention includes a photographing unit 240 for photographing the ground, a second communication unit 310 for communicating with the surveying instrument 300, And receives a first position coordinate determined by the GPS information from the positioning mechanism (300) positioned at the positioning point, and calculates a second position coordinate corresponding to the first position coordinate based on the GPS information Moves to the second position coordinate and moves to the upper vertical area of the measuring instrument (300) based on the detection result of the measuring mechanism (300) of the photographing part (240) The coordinates can be determined.

The photographing unit 240 may compare the previous image frame with the current image frame to detect the light emitted from the measuring instrument 300 and move to the upper vertical region of the measuring instrument 300.

And may transmit the third position coordinate to the metering mechanism 300 such that the metrology tool 300 changes the first position coordinate to the third position coordinate. The second communication unit 310 receives the coordinate values of the X and Y axes of the first position coordinate system from the measurement mechanism 300, and the first position coordinate system includes X, Y, and Z axis coordinate values of the three-dimensional coordinate system, Lt; / RTI &gt; The measurement instrument 300 may change the X, Y axis coordinate values of the first position coordinates of the positioning point to the X, Y axis coordinate values of the third position coordinates.

The GNSS-based measurement system 100 according to an embodiment of the present invention also includes a measurement mechanism 300 disposed at the above-described positioning point to determine a first positional coordinate of the positioning point based on GPS information, (300), receives the first position coordinate from the mechanism (300), moves to a second position coordinate corresponding to the first position coordinate based on the GPS information, and detects the measuring mechanism (300) And determines the third positional coordinates based on the GPS information.

The air vehicle 200 includes a photographing unit 240 for photographing the ground and can detect the surveying instrument 300 based on an image photographed by the photographing unit 240. The measurement unit 300 includes a light source unit 320 and the image sensing unit 240 can detect light from the light source unit 320 and detect the measurement unit 300. The light source 320 may periodically emit light. The measuring instrument 300 may receive the third positional coordinates, and may correct the first positional coordinate error by changing the first positional coordinate of the positioning point to the third positional coordinate.

2, a GNSS-based surveying system 100 according to an embodiment of the present invention may include a GNSS satellite 10, a public mobile 200, and a surveying instrument 300.

The Global Navigation Satellite System (GNSS) system is a satellite positioning system and can provide position information of the surveying instrument 300 and the public mobile body 200 using a GNSS satellite 10 which is orbiting a space orbit.

The GPS satellites 10 may be plural, for example, four to six.

3, the public mobile terminal 200 includes a first communication unit 210 capable of communicating with the GNSS satellite 10 and the surveying instrument 300, a posture control unit 210 capable of controlling the posture of the public mobile terminal 200, A sensor unit 230 for controlling the movement and position of the public moving body 200, a first communication unit 210 and a posture control unit 220, a sensor unit 230, a photographing unit 240 and a first processor 290 for controlling and controlling the overall operation of the system. The public mobile terminal 200 may further include a first receiver 280 together with the first communication unit 210 to receive GPS information.

The sensor unit 230 includes a tilt sensor, a magnetometer, an angular velocity sensor, and an acceleration sensor, and the posture controller 220 senses the sensing result of the sensor unit 230 The air mover 200 can be moved and aligned.

Also, the photographing unit 240 may be composed of a plurality of photographing units, and any one photographing unit among the plurality of photographing units may be disposed on the back surface of the public moving body 200 to photograph the landing region.

4, the measurement instrument 300 includes a second communication unit 310 capable of communicating with the public mobile terminal 200, a second processor 390 capable of controlling the overall operation of the light source unit 320, . &Lt; / RTI &gt; The measurement instrument 300 may further include a second receiver 380 together with the second communication unit 310 to receive GPS information.

Also, the light source unit 320 may be disposed in an upper area of the metering device 300 to emit light to an upper area where the air moving object 200 exists.

FIG. 5 is a view showing a first concentric circle taking into account a measuring instrument and an error disposed at a positioning point. 6 is a view showing a public moving body and a second concentric circle as a photographing region. And FIG. 7 is a view showing a method of determining a position coordinate according to a surveying instrument and a public moving body. And FIG. 8 is a view showing a moving method of the public moving body.

5 to 7, the measuring instrument 300 may be disposed at the positioning point 1.

The positioning point 10 may be a point for knowing an accurate position coordinate necessary for a measurement or the like.

The measurement instrument 300 can determine the first positional coordinates 2 on the positioning point 1 using the GNSS satellite 10.

The first position coordinates (2) are coordinates of an X-axis representing one axis of the earth surface, a Y-axis coordinate perpendicular to the X-axis, and X-axis coordinates being perpendicular to the X- Y, and Z coordinates.

When the measuring instrument 300 is located at the positioning point 10, the measuring instrument 300 is positioned within the first concentric circle of the first radius R1 about the positioning point 10, May be the first position coordinate (2). In other words, the concentric circle is a predetermined error range of the first position coordinate (2), and the radius of the first concentric circle can be changed according to the characteristic of the area where the measuring instrument 300 is located, And the first concentric circle having the first radius R1 may be determined according to the maximum error range.

Therefore, the first position coordinate 2 can be a coordinate which is matched to the positioning point 10 without error, and can be determined in accordance with the degree of error, and the specific coordinate within the first concentric circle which does not match the positioning point 10 Can be the coordinates of the area.

The second communication unit 310 of the measurement instrument 300 transmits the first position coordinate 2 to the public mobile body 200 and the first position coordinate 2 via the first communication unit 210 The received public mobile 200 can move to the second location coordinates 3 corresponding to the first location coordinates 2 using the GNSS satellite 10.

In this case, the second position coordinate (3) is the same as the X and Y coordinates of the first position coordinate (2), and the Z coordinate is different. This is because the air vehicle 200 is located in the air and the surveying instrument 300 is located on the ground. Accordingly, the aerial object 200 can move to the X and Y coordinates which are the same as the X and Y coordinates of the first position coordinate (2) while maintaining the Z coordinate of the current position as it is.

Since the public mobile 200 can be located in a public area with a minimum influence from the characteristics of the area where the surveying instrument 300 is located, that is, in an area where the high-rise buildings are densely located, The second location coordinates 3 determined through the GNSS satellite 10 may be relatively accurate position coordinates free from multipath errors. Due to such an error, the X and Y coordinates of the first position coordinate 3 and the second position coordinate 4 are the same, but the actual positions of the public moving body 200 and the measurement instrument 300 are different .

The photographing unit 240 of the public moving body 200 includes a lens module 241 and an image processing unit 242. The lens module 241 photographs a region of the ground in the air, To the processing unit 242.

Specifically, the second concentric circle region of the second radius R2 can be photographed with the second position coordinate 2 as the center. However, the photographing area is not limited to a concentric circle but may be a square.

In addition, the second radius R2 may be varied depending on the height of the public moving body 200, and specifically, the second radius R2 may be decreased in inverse proportion to the height of the public moving body 200. [ The posture control unit 220 periodically monitors the horizontal motion of the public moving body 200 to photograph the second concentric circular region of the ground motion region 200 by the photographing unit 240 of the public moving body 200, 200 can be kept horizontal.

The measuring instrument 300 may periodically emit light through the light source 320. Therefore, light emitted through the light source unit 320 appears in one of the previous image frame and the current image frame of the image frame photographed through the lens module 241, and the other light source is the off state of the light source unit 320 .

Also, the time period between the time when the light source unit 320 is turned on and the time when the light source unit 320 is turned off is shorter than the time interval between the current image frame and the previous image frame, The light source unit 320 in a turned-on state and the light source unit 320 in a turned-off state may be respectively photographed.

The image processing unit 242 includes a frame storing unit 243 and a frame comparator 244. The frame storing unit 243 stores the photographed image frame and the frame comparator 244 stores The video frame can be compared with the received current video frame. The image processing unit 242 may perform a comparison operation of the previous and current image frames a plurality of times, and may transmit the comparison result to the first processor 290. The first processor 290 can detect the position area of the detected measurement instrument 300 by detecting an area in which the difference in gray level value continuously occurs between the previous and current image frames based on the comparison result.

Based on the position area of the detected measurement mechanism 300 detected by the first processor 290, the public mobile terminal 200 can move to be located in the position area of the detected measurement instrument 300 .

8, the positional area of the detected surveying instrument 300 is compared with the central area of the photographed image, and the photographing is performed through the movement of the public moving body 200 in the x and y directions So that the center area of the detected image can be positioned in the position area of the detected measurement instrument 300.

When the public moving body 200 moves and is located in a location area of the detected surveying instrument 300, the third position coordinate 4 is determined through the GNSS satellite 10 of the public moving body 300 , And transmit the determined third position coordinate (4) to the surveying mechanism (300). Accordingly, the first position coordinate (2) can be modified to the third position coordinate (4).

Further, the embodiment according to the present invention may further include a main controller 400.

The main controller 400 may move the public moving object 200 and the surveying instrument 300 to specific position coordinates and receive and display the first to fourth position coordinates, respectively.

The public moving body 200 and the surveying instrument 300 receive command signals of the main controller 400 and are capable of attitude control and position control according to the command.

The GNSS-based surveying system 10 according to an embodiment of the present invention can measure the positional coordinates of the public mobile 200 and the surveying instrument 300 free from multipath errors and the position coordinates of the position- 300, it is possible to precisely measure the position coordinates of the measurement point of the measuring instrument 300.

       <GNSS-based survey method>

A method of driving a GNSS-based surveying instrument according to an embodiment of the present invention includes the steps of determining a first position coordinate (2) of a positioning point (1) where a surveying instrument (300) 1 position coordinates 2 to the air vehicle 200 and receiving the changed position coordinates 4 received from the air vehicle 200 located in the vertical upper region of the measurement instrument 300 can do. The method may further include the step of periodically emitting the light so that the air vehicle 200 detects light and moves to a vertical upper region of the measurement instrument 300.

The measuring mechanism 300 may further include changing the first position coordinate 2 of the positioning point 1 to the received changed position coordinate 4.

The method for driving a GNSS-based public moving vehicle according to an embodiment of the present invention includes the steps of receiving from the surveying instrument 300 a first positional coordinate 2 of a positioning point at which a surveying instrument 300 is located, Moving to a second position coordinate (3) corresponding to the first position coordinate (2) on the basis of the detection result of the measuring mechanism (300), detecting the measuring mechanism (300) Moving to a position in the vertical upward direction of the metering device 300 and determining a third positional coordinate (4) at a location in the vertical up-direction of the metering device 300 based on the GPS information . The step of detecting the measuring instrument 300 may further include the steps of photographing light emitted from the measuring instrument 300 and measuring the position of the measuring instrument 300 based on the comparison result of the current and previous image frames of the photographed image. May be detected. And transmitting the third position coordinate (4) to the metering mechanism (300) such that the metrology tool (300) changes the first position coordinate (2) to the third position coordinate (4) can do.

A GNSS-based measurement method according to an embodiment of the present invention includes a first position coordinate determination step of determining a first position coordinate (2) of a positioning point (1) where a measurement instrument (300) A first position coordinate transmitting step of transmitting the first position coordinate (2) to the public moving body (200), a second position coordinate transmitting step of moving to a second position coordinate (30) corresponding to the first position coordinate A second position coordinate moving step of moving the air moving body to a first position in the air moving body, a second position coordinate moving step of moving the air moving body to the first position, And a third position coordinate determination step of determining a third position coordinate of the public moving body 200 positioned in the upper vertical direction of the measurement instrument 300. [

The surveying mechanism detecting step in which the public moving body 200 detects the surveying instrument 300 includes the steps of photographing light emitted from the surveying instrument 300 and measuring the position of the surveying instrument 300 ).

In addition, the step of detecting the measurement instrument 300 based on the photographed image may detect the measurement instrument 300 by comparing the current and previous image frames to detect the light. The measurement instrument 300 may periodically emit the light.

The GNSS-based measurement method may further include the step of the public mobile terminal 200 transmitting the third location coordinates 4 to the surveying device 300.

The surveying mechanism 300 of the GNSS-based measurement method further includes a position coordinate correction step of (1) changing the first position coordinate (2) of the positioning point to the received third position coordinate (4) can do. The first position coordinate 2 includes X, Y and Z coordinate values of a three-dimensional coordinate system, and the first position coordinate 2 is transmitted to the public moving body 200 , The surveying instrument 300 can transmit coordinate values of the X and Y axes of the first positional coordinates 2 to the public mobile 200. The measuring mechanism 300 can change the X and Y axis coordinate values of the first position coordinates 2 of the positioning point 1 to the X and Y axis coordinate values of the third position coordinates 4 .

&Lt; Measurement of tilt angle &

9 is a detailed configuration diagram of a public mobile body according to an embodiment of the present invention. FIG. 10 is a view showing a support body of a public moving body, and FIG. 11 is a detailed configuration diagram of a surveying instrument according to an embodiment of the present invention. 12 is a view showing a tilt measuring method.

9 to 12, the inclination angle measuring method based on the GNSS-based measurement method includes a measuring instrument moving step of moving the measuring instrument 300 to a plurality of positioning points 11, 12, 13 and 14, A public moving object moving step of moving the public moving object 200 horizontally in a vertical upper area of the surveying instrument 300 in correspondence to a moving direction of the surveying instrument 300; 300 for calculating the distance between the surveying instrument 300 and the public moving body 200 based on the ultrasonic waves reflected from the ground and the ultrasonic waves reflected from the ground surface 300 on the path on which the surveying instrument 300 has moved based on the calculated distance, And calculating a tilt angle.

Specifically, the public moving body 200 may further include an ultrasonic sensor 250. The ultrasonic sensor 250 may be disposed in a rear region of the support 201 of the public mobile device 200 and the ultrasonic sensor 250 may include an ultrasonic transmitter 251 and an ultrasonic receiver 252, The transmitting unit 251 emits ultrasonic waves, and the ultrasonic wave receiver 252 can receive the ultrasonic waves reflected by the measuring instrument 300 and returned.

The measurement instrument 300 may further include a reflection plate 330 and a second sensor unit 340. The reflection plate 330 has a built-in GPS receiver and may have a disk shape to reflect the ultrasonic waves.

The measuring instrument 300 can determine the positional coordinates of the plurality of positioning points according to the positional coordinate measuring method described above while moving the plurality of positioning points.

Further, the measuring instrument 300 can calculate the inclination angle of the ground while moving a plurality of positioning points.

For example, the surveying instrument 300 is disposed at the first positioning point 11, and the first position coordinates 111 of the first positioning point 11, The second position coordinate 121 of the second positioning point 12, the third position coordinate 131 of the third positioning point 13 and the fourth position coordinate 141 of the fourth positioning point 14 are Can be determined.

While the metrology tool 300 can move from the first positioning point 11 to the second positioning point 12. In this case, the metering device 300 may move from the first positioning point 11 to the second positioning point 12 in a straight line.

And the public mobile 200 maintains a vertical position with respect to the metering device 300 based on the positional movement through the detection of the metering device 300 described above, And can move in the horizontal direction together with the mechanism 300.

In this case, the ultrasonic sensor 250 of the public moving body 200 periodically receives the ultrasonic waves reflected by the reflection plate 330 of the ultrasonic wave emitting and measuring instrument 300, The distance between the moving object 200 and the measuring instrument 300 can be measured.

In this case, since there is a constant inclination between the first positioning point 11 and the second positioning point 12, the gap between the public mobile body 200 at the first positioning point 11 and the metering mechanism 300 And the distance between the public mobile 200 and the surveying instrument 300 at the second positioning point 12 becomes L1 + L2. Accordingly, the first processor 290 of the public mobile terminal 200 may calculate the tilt angle based on the information and transmit the tilt angle to at least one of the surveying instrument 300 and the main controller 400.

Therefore, the measuring instrument 300 can calculate the inclination angle of the ground between different positioning points.

Meanwhile, the measuring instrument 300 may move in contact with the ground under the control of the main controller 400 in combination with the moving means. Therefore, the main controller 400 transmits a command to the metering device 300, and the metering device 300 can move to a specific point corresponding to the command signal.

 <Method of generating background area image>

13 is a diagram illustrating a background image capturing method using a public moving object and a surveying instrument according to an embodiment of the present invention.

13, there are shown photographing steps of a surveying instrument for moving a surveying instrument 300 to a plurality of positioning points 11, 12, 13 and 14 and photographing a region facing the side of the surveying instrument 300, A public moving body moving step of moving the public moving body 200 horizontally in a vertical upper area of the measuring instrument 300 in correspondence with a moving direction of the measuring instrument 300, A photographing step of photographing an area of the public moving body 200 which moves the public moving body 200 in a vertical direction and which photographs a region facing the side of the public moving body 200 and a photographing step of photographing the moving moving body 200 based on the photographing images of the surveying mechanism 300 and the public moving body 200 And acquiring a background image viewed from the outside in an inner space formed by connecting the plurality of positioning points (11, 12, 13, 14).

Specifically, the photographing unit 240 of the public moving body 200 may include a first photographing unit 241 and a second photographing unit 242.

The first photographing unit 241 is disposed in the rear area of the support body 201 of the public vehicle 200 and photographs the ground area so that an image for detection of the surveying instrument 300 in the above- And the second photographing unit 242 may be disposed on a side surface of the support 201 to photograph an image of a region facing the side surface of the support 201. [

The third photographing unit 350 may be disposed on the side surface of the measuring instrument 300 and may be disposed on the side surface of the measuring instrument 300, It is possible to photograph the image of the facing area.

For example, the measuring instrument 300 may acquire an image through the third photographing unit 350 while moving the first to fourth positioning points 11, 12, 13, and 14. The air mover 200 is located in the upper region of the first positioning point 11 and moves in the direction to approach the measuring instrument 300 in the vertical direction and in the direction away from the measuring instrument 300, That is, the image captured through the second photographing unit 242 can be acquired while moving in the vertical direction. This operation is carried out at least at one point on the path for moving the first to fourth positioning points 11, 12, 13, 14 and the first to fourth positioning points 11, 12, 13, It is possible to obtain the entire background area for the outer area viewed from the area connecting the first to fourth positioning points 11, 12, 13, and 14.

Each of the background images photographed through the public mobile 200 and the measurement instrument 300 can be transmitted to the main controller 400, which synthesizes the transmitted background images and is connected by a plurality of positioning points It is possible to acquire images viewed from outside in space. Therefore, when a building is set up on a space connected by a positioning point, it is possible to generate a background image viewed from each floor from a lower floor to a higher floor of the building, and thus, .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, 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. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

100 GNSS-based surveying system
10 GNSS satellites
200 Public Mobile
210 first communication section
220 attitude control unit
230 sensor unit
240 photographing unit
241 First shooting section
242 Second shooting section
280 first receiver
290 First processor
300 surveying instrument
310 second communication section
320 Light source
380 second receiver
390 second processor
400 main controller

Claims (14)

A positioning mechanism disposed at a positioning point to determine a first position coordinate of the positioning point based on GPS information; And
The first position coordinate is received from the measuring instrument, the second position coordinate corresponding to the first position coordinate is determined based on the GPS information, and the measuring mechanism is detected and moved in an upper direction perpendicular to the measuring instrument And determining a third positional coordinate based on the GPS information. The method according to claim 1,
The air vehicle includes a photographing unit for photographing the ground,
And a GNSS-based surveying system for detecting the surveying instrument based on an image photographed by the photographing section. 3. The method of claim 2,
Wherein the measuring mechanism includes a light source portion,
Wherein the photographing unit detects light from the light source unit and detects the measuring mechanism. The method of claim 3,
Wherein the light source periodically emits light. The method according to claim 1,
Wherein the metrology tool receives the third positional coordinate and changes the first positional coordinate of the positioning point to the third positional coordinate. In a surveying instrument,
A first receiver for receiving GPS information;
A first processor for calculating a first position coordinate of a positioning point at which the measuring instrument is located based on the GPS information; And
And a first communication unit transmitting the first positional coordinates to the air vehicle and receiving corrected positional coordinates received from the air vehicle located in the vertical upper region of the measurement instrument. The method according to claim 6,
Further comprising: said light source portion for detecting said light from said light source and moving to a vertical upper region of said metering device. 8. The method of claim 7,
Wherein the light source periodically emits light. The method according to claim 1,
Wherein the first communication unit receives the changed position coordinates,
Wherein the first processor changes the first position coordinate of the positioning point to the changed position coordinate. 10. The method of claim 9,
Wherein the first position coordinates include X, Y, Z coordinate values of a three-dimensional coordinate system,
And the first communication unit transmits coordinate values of the X and Y axes of the first position coordinate to the public moving body. In the public mobile body,
A photographing part for photographing the ground;
A second communication unit for communicating with the surveying instrument; And
And a second processor for determining position coordinates based on the GPS information,
The first position coordinate determined by the GPS information is received from the measuring mechanism positioned at the positioning point and moved to the second position coordinate corresponding to the first position coordinate based on the GPS information, A GNSS-based public moving body moving to an upper vertical region of the surveying instrument based on the detection result, and determining a third position coordinate based on the GPS information. 12. The method of claim 11,
Wherein the photographing unit compares a previous image frame with a current image frame to detect light emitted from the surveying instrument and moves to an upper vertical area of the surveying instrument. 12. The method of claim 11,
And the third position coordinate is transmitted to the instrument instrument so that the measuring instrument changes the first position coordinate to the third position coordinate. 12. The method of claim 11,
Wherein the first position coordinates include X, Y, Z coordinate values of a three-dimensional coordinate system,
And the second communication unit receives the coordinate values of the X and Y axes of the first position coordinate from the measurement mechanism.
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Cited By (2)

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Publication number Priority date Publication date Assignee Title
JP2020012713A (en) * 2018-07-17 2020-01-23 エアロセンス株式会社 Method for processing information, program, and information processing system
KR102308234B1 (en) * 2021-04-29 2021-10-05 주식회사 메이사 A method for positioning GCP and a device using the same

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JP2006300700A (en) * 2005-04-20 2006-11-02 Tokai Univ Positioning system
JP5690539B2 (en) * 2010-09-28 2015-03-25 株式会社トプコン Automatic take-off and landing system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020012713A (en) * 2018-07-17 2020-01-23 エアロセンス株式会社 Method for processing information, program, and information processing system
US11474261B2 (en) 2018-07-17 2022-10-18 Aerosense Inc. Information processing method, program, and information processing system
KR102308234B1 (en) * 2021-04-29 2021-10-05 주식회사 메이사 A method for positioning GCP and a device using the same

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