KR20170090834A - Measurement method Based on Global Navigation Satellite System - Google Patents

Measurement method Based on Global Navigation Satellite System Download PDF

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KR20170090834A
KR20170090834A KR1020160011701A KR20160011701A KR20170090834A KR 20170090834 A KR20170090834 A KR 20170090834A KR 1020160011701 A KR1020160011701 A KR 1020160011701A KR 20160011701 A KR20160011701 A KR 20160011701A KR 20170090834 A KR20170090834 A KR 20170090834A
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position coordinate
coordinate
measuring apparatus
coordinates
gnss
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KR1020160011701A
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Korean (ko)
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KR101779929B1 (en
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이임건
허경용
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동의대학교 산학협력단
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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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • B64C2201/127—
    • B64C2201/145—

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

According to an embodiment of the present invention, a measurement method based on a global navigation satellite system (GNSS) comprises: a first location coordinate determining step of determining a first location coordinate of a location determining point in which a measurement device is located by using GPS information; a first location coordinate transmitting step of transmitting the first location coordinate to an unmanned air vehicle; a second location coordinate moving step of moving to a second location coordinate which corresponds to the first location coordinate by using the GPS information; a measurement device detecting step in which the unmanned air vehicle detects the measurement device; an unmanned air vehicle location matching step in which the unmanned air vehicle moves in the upper vertical direction of the measurement device based on a detection result; and a third location coordinate determining step of determining a third location coordinate of the unmanned air vehicle located in the upper vertical direction of the measurement device.

Description

GNSS-based measurement method based on Global Navigation Satellite System

The present invention relates to a GNSS-based measurement method. And more particularly, to a surveying method for precisely measuring location information of a surveying instrument based on a GNSS satellite and an unmanned aerial vehicle.

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.

In particular, 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 measuring device, an unmanned aerial vehicle and a method of driving them, which can accurately 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 measurement system according to an embodiment of the present invention includes a measurement device disposed at a positioning point to determine a first positional coordinate of the positioning point based on GPS information; And a controller for receiving the first positional coordinates from the measuring device, moving to a second positional coordinate corresponding to the first positional coordinate based on the GPS information, detecting the measuring device, 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 may further include a GNSS-based surveying system that includes a photographing unit for photographing the ground and detects the surveying device based on the image photographed by the photographing unit You may.

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

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 apparatus of the GNSS-based surveying system according to the embodiment of the present invention further comprises a GNSS-based surveying system for receiving the third positional coordinates and changing the first positional coordinates of the positioning points to the third positional coordinates . ≪ / RTI >

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

Further, in the GNSS-based surveying apparatus according to the embodiment of the present invention, the GNSS-based surveying apparatus further includes the light source unit so that the unmanned airplane detects light from the light source unit and moves to a vertical upper region of the surveying apparatus You may.

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

Further, in the GNSS-based measurement apparatus 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 coordinates of the positioning point to the changed position coordinates GNSS-based measurement devices may also be provided.

Further, in the GNSS-based surveying apparatus 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 communication unit includes X, Axis coordinate value of the Y-axis to the unmanned aerial vehicle.

Further, in the GNSS-based surveying apparatus according to the embodiment of the present invention, the first processor 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 changed position coordinates GNSS-based metering devices.

In addition, the GNSS-based unmanned aerial vehicle according to the embodiment of the present invention includes a photographing unit for photographing the ground in a unmanned aerial vehicle; A second communication unit for communicating with the surveying device; And a second processor for determining a position coordinate based on GPS information, wherein the first position coordinate determined by the GPS information is received from the measuring device located at the positioning point, and based on the GPS information, Moving to a second position coordinate corresponding to the coordinate and moving to an upper vertical area of the measuring device based on the detection result of the measuring device of the photographing part and determining a third position coordinate based on the GPS information Of unmanned aerial vehicles.

In the GNSS-based unmanned aerial vehicle according to an embodiment of the present invention, the photographing unit compares a previous image frame with a current image frame, detects a light emitted from the surveying device, and moves to an upper vertical area of the surveying device, Of unmanned aerial vehicles.

The GNSS-based unmanned aerial vehicle according to the embodiment of the present invention is a GNSS-based unmanned aerial vehicle that transmits the third positional coordinates to the surveying apparatus so that the measurement apparatus changes the first positional coordinates to the third positional coordinates. . ≪ / RTI >

In the GNSS-based unmanned aerial vehicle according to the embodiment of the present invention, the first location coordinates include X, Y, and Z axis coordinate values of a three-dimensional coordinate system, and the second communication unit receives, from the measurement device, It is possible to provide a GNSS-based unmanned aerial vehicle receiving coordinate values of the X and Y axes of coordinates.

Further, in the GNSS-based unmanned aerial vehicle according to the embodiment of the present invention, the measurement apparatus changes the X, Y axis coordinate values of the first position coordinates of the positioning point to X, Y axis coordinate values of the third position coordinates Based GNSS-based unmanned aerial vehicle.

According to another aspect of the present invention, there is provided a GNSS-based measurement method comprising: a first position coordinate determination step of determining a first position coordinate of a positioning point where a measurement apparatus is located using GPS information; A first position coordinate transmitting step of transmitting the first position coordinate to an unmanned aerial vehicle; A second position coordinate moving step of moving to a second position coordinate corresponding to the first position coordinate using the GPS information; A measuring apparatus detecting step in which the unmanned air vehicle detects the measuring apparatus; An unmanned aerial vehicle position matching step in which the unmanned air vehicle moves in an upper vertical direction of the surveying apparatus based on the detection result; And a third position coordinate determination step of determining a third position coordinate of the unmanned air vehicle positioned in an upper vertical direction of the measurement apparatus.

Further, in the GNSS-based measurement method according to the embodiment of the present invention, the measuring apparatus detecting step in which the unmanned air vehicle detects the measuring apparatus includes the steps of: capturing light emitted from the measuring apparatus; And detecting the measurement apparatus based on the photographed image.

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

In addition, in the GNSS-based measurement method according to an embodiment of the present invention, the measurement apparatus may provide a GNSS-based measurement method of periodically emitting the light.

Further, in the GNSS-based measurement method according to an embodiment of the present invention, the unmanned air vehicle may further include transmitting the third location coordinates to the surveying apparatus.

In the GNSS-based measurement method according to an embodiment of the present invention, the measurement apparatus 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 an 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 apparatus may provide a GNSS-based measurement method of transmitting coordinate values of the X and Y axes of the first position coordinates to the unmanned aerial vehicle.

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

According to another aspect of the present invention, there is provided a method of driving a GNSS-based surveying apparatus, comprising: 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 an unmanned aerial vehicle; And receiving modified position coordinates received from the unmanned aerial vehicle located in a vertical upper region of the measurement apparatus.

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

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

In the method of driving a GNSS-based surveying apparatus according to an 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 are transmitted to an unmanned aerial vehicle The coordinates of the X and Y axes of the first position coordinates are transmitted to the unmanned aerial vehicle.

In the method of driving a GNSS-based surveying apparatus according to an 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 are transmitted to an unmanned aerial vehicle Wherein the coordinates of the X and Y axes of the first position coordinates are transmitted to the unmanned aerial vehicle, and the measuring device changes 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.

Further, a method of driving a GNSS-based unmanned aerial vehicle according to an embodiment of the present invention includes: receiving from a surveying apparatus 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 device; Moving to a position in the vertical upper direction of the measuring apparatus based on the detection result of the measuring apparatus; And determining a third positional coordinate at a position in the vertical direction of the measurement apparatus based on the GPS information.

Further, in the driving method of the GNSS-based unmanned aerial vehicle according to the embodiment of the present invention, the step of detecting the measurement apparatus may include the steps of: capturing light emitted from the measurement apparatus; And detecting the measurement apparatus based on a comparison result between current and previous image frames of the photographed image. The GNSS-based unmanned aerial vehicle driving method may further include:

Further, in the method of driving a GNSS-based unmanned aerial vehicle according to an embodiment of the present invention, the step of detecting the measuring apparatus may include detecting the third positional coordinate so that the measuring apparatus changes the first positional coordinate to the third positional coordinate, To the surveying apparatus, a method of driving the GNSS-based unmanned aerial vehicle.

In addition, the inclination angle measurement method based on the GNSS-based measurement method according to an embodiment of the present invention includes: a measurement apparatus movement step of moving a measurement apparatus to a plurality of positioning points; Moving the unmanned aerial vehicle horizontally in a vertically upper area of the surveying device in correspondence to a moving direction of the surveying device; A distance calculating step of calculating a distance between the surveying device and the unmanned aerial vehicle based on ultrasonic waves transmitted from the unmanned aerial vehicle and reflected from the surveying device; And calculating a tilt angle of the ground on the path on which the measuring apparatus has moved based on the calculated distance.

The background area image generation method based on the GNSS-based measurement method according to the embodiment of the present invention is a method of generating a background area image based on a GNSS-based measurement method, comprising the steps of moving a measurement apparatus to a plurality of positioning points and photographing an area facing a side of the measurement apparatus ; Moving the unmanned aerial vehicle horizontally in a vertically upper area of the surveying device in correspondence to a moving direction of the surveying device; A step of photographing an unmanned aerial vehicle, which is located in a vertically upper region of the surveying apparatus, in a vertical direction and photographs a region facing the side of the unmanned aerial vehicle; 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 measurement device and the photographed image of the unmanned air vehicle A method of generating a background region image may be provided.

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

In addition, accurate positional coordinates at a plurality of positioning points can be obtained as the measuring apparatus moves.

Also, it is possible to precisely measure the tilt angle of the ground through the movement in the vertical direction of the surveying device and the unmanned aerial vehicle.

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

1 and 2 are diagrams 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 an unmanned aerial vehicle.
4 is a detailed configuration diagram of a control device for controlling the overall operation of the measurement apparatus.
FIG. 5 is a view showing a first concentric circle taking into consideration a measurement device and an error disposed at a positioning point.
6 is a view showing the unmanned aerial vehicle and the second concentric circle which is the photographing area.
7 is a view showing a method of determining a position coordinate according to a measurement apparatus and an unmanned aerial vehicle.
8 is a view showing a moving method of the unmanned aerial vehicle.
12 is a detailed configuration diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
13 is a view showing a support body of the unmanned aerial vehicle.
14 is a detailed configuration diagram of a surveying apparatus according to an embodiment of the present invention.
15 is a view showing a tilt measuring method.
16 is a flowchart of a tilt angle measurement method based on a GNSS-based measurement method.
17 is a view illustrating a background image capturing method using an unmanned aerial vehicle and a surveying apparatus according to an embodiment of the present invention.
18 is a flowchart of a background region image generation method based on a GNSS-based measurement method.

Hereinafter, a GPS-based surveying method 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>

1 and 2 are diagrams 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 unmanned aerial vehicle. And Fig. 4 is a detailed configuration diagram of a control device for controlling the overall operation of the measuring apparatus.

Referring to FIGS. 1 and 3 to 4, a GNSS-based measurement apparatus 300 according to an embodiment of the present invention includes a first receiver 280 for receiving GPS information, A first processor (290) for calculating a first position coordinate of a positioning point where the first position coordinate is located and a second position coordinate And a first communication unit 210 receiving the corrected position coordinates received from the UAV 200. The light source unit 320 may further include the light source unit 320 to detect the light from the light source unit 320 and to move to the vertical upper region of the measurement apparatus 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 unmanned aerial vehicle 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 device 300, And receives a first position coordinate determined by the GPS information from the measuring apparatus 300 located at the positioning point, and calculates a first 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 region of the measurement apparatus (300) based on the detection result of the measurement apparatus (300) of the photographing section (240) The coordinates can be determined.

Also, the photographing unit 240 may compare the previous image frame with the current image frame to detect light emitted from the measurement apparatus 300 and move to the upper vertical region of the measurement apparatus 300.

And the measuring apparatus 300 may transmit the third position coordinate to the measuring apparatus 300 so as to change the first position coordinate to the third position coordinate. The second communication unit 310 receives the coordinate values of the X, Y axes of the first position coordinate system from the measurement apparatus 300, and the first position coordinate system includes X, Y, Z axis coordinate values of the three- Lt; / RTI &gt; The measurement apparatus 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 device 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 positional coordinate from the device (300), moves to a second positional coordinate corresponding to the first positional coordinate based on the GPS information, and detects the measuring device (300) And determines a third positional coordinate based on the GPS information by moving in a vertical direction perpendicular to the first positional information.

In addition, the unmanned aerial vehicle 200 includes a photographing unit 240 for photographing the ground, and can detect the surveying apparatus 300 based on an image photographed by the photographing unit 240. The measurement apparatus 300 may include a light source unit 320 and the photographing unit 240 may detect the light from the light source unit 320 and detect the measurement apparatus 300. The light source 320 may periodically emit light. The measuring apparatus 300 may receive the third positional coordinates and correct the error of the first positional coordinates 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, an unmanned aerial vehicle 200, and a surveying apparatus 300. FIG.

The Global Navigation Satellite System (GNSS) system is a satellite positioning system, and can provide position information of the measurement apparatus 300 and the unmanned air vehicle 200 using the GNSS satellite 10 which is orbiting a space orbit.

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

3, the unmanned air vehicle 200 includes a first communication unit 210 capable of communicating with the GNSS satellite 10 and the measurement apparatus 300, a posture control unit 210 capable of controlling the posture of the unmanned air vehicle 200, A sensor unit 230 for controlling the movement and position of the unmanned air vehicle 200, a first communication unit 210 and a posture control unit 220, a sensor unit 230, 240 and a first processor 290 for controlling and controlling the overall operation of the system. In addition, the unmanned air vehicle 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 unmanned aerial vehicle 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 of the plurality of photographing units may be disposed on the back surface of the unmanned aerial vehicle 200 to photograph the landing region.

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

In addition, the light source unit 320 may be disposed in an upper region of the measurement apparatus 300 to emit light to an upper region where the unmanned air vehicle 200 exists.

FIG. 5 is a view showing a first concentric circle taking into consideration a measurement device and an error disposed at a positioning point. And FIG. 6 is a view showing the unmanned aerial vehicle and the second concentric circle which is the photographing area. And FIG. 7 is a view showing a method of determining a position coordinate according to a measurement apparatus and an unmanned aerial vehicle. And FIG. 8 is a view showing a method of moving the unmanned aerial vehicle.

5 to 7, the measuring apparatus 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 apparatus 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 apparatus 300 is located at the positioning point 10, the measurement apparatus 300 is positioned within the first concentric circle of the first radius R1, centering on the positioning point 10, May be the first position coordinate (2). That is, 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 characteristics of the area where the measuring apparatus 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 apparatus 300 transmits the first position coordinate 2 to the unmanned air vehicle 200 and the first position coordinate 2 via the first communication unit 210 The received unmanned aerial vehicle 200 can move to the second positional coordinates 3 corresponding to the first positional 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 unmanned aerial vehicle 200 is located in the air and the measuring apparatus 300 is located on the ground. Therefore, the unmanned aerial vehicle 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 unmanned air vehicle 200 can be located in an aerial area at a location higher than that of the high-rise building in the area where the impact resulting from the characteristics of the area where the measurement apparatus 300 is located is minimized, 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 position of the unmanned air body 200 and the measurement apparatus 300 are different from each other .

The photographing unit 240 of the unmanned air vehicle 200 includes a lens module 241 and an image processing unit 242. The lens module 241 photographs an area on 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 vary depending on the height of the unmanned air vehicle 200, and specifically, the second radius R2 may be decreased in inverse proportion to the height of the unmanned air vehicle 200. [ In order to photograph the second concentric circle area of the land area of the unmanned air vehicle 200 by the photographing part 240, the attitude controller 220 periodically monitors the horizontal position of the unmanned air vehicle 200, 200 can be kept horizontal.

The measurement apparatus 300 may periodically emit light through the light source unit 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 apparatus 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 apparatus 300 detected by the first processor 290, the unmanned air vehicle 200 can move to be located in the position area of the detected measurement apparatus 300 .

8, the positional area of the detected measurement apparatus 300 is compared with the center area of the photographed image, and the moving direction of the unmanned air vehicle 200 is measured in the x, So that the center area of the detected image can be located in the position area of the detected measurement apparatus 300.

The third position coordinate 4 is determined through the GNSS satellite 10 of the unmanned air vehicle 300 when the UAV 200 moves and is located in the location area of the detected measurement apparatus 300 , And transmit the determined third position coordinate (4) to the measuring apparatus 300. Accordingly, the first position coordinate (2) can be modified to the third position coordinate (4).

Referring to FIG. 2, the embodiment according to the present invention may further include a main controller 400.

The main controller 400 may move the unmanned aerial vehicle 200 and the measurement apparatus 300 to specific position coordinates and receive and display the first to fourth position coordinates, respectively.

The unmanned air vehicle 200 and the surveying apparatus 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 perform position matching of the unmanned air vehicle 200 and the measurement apparatus 300 free from multipath errors and position coordinates of the position- 300, it is possible to accurately measure the position coordinates of the measurement point of the measuring apparatus 300. [

< GNSS  Based survey method>

FIG. 9 is a flow chart of a method of driving a GNSS-based surveying apparatus, FIG. 10 is a flowchart of a GNSS-based unmanned aerial vehicle driving method, and FIG. 11 is a flowchart of a GNNNS-based surveying method.

9, A method of driving a GNSS-based measurement apparatus according to an embodiment of the present invention includes a step S110 of determining a first position coordinate 2 of a positioning point 1 where a measurement apparatus 300 is located based on GPS information, (S120) of transmitting the first positional coordinates (2) to the unmanned air vehicle (200) and changing the changed position coordinates (4) received from the unmanned air vehicle (200) located in the vertical upper region of the measurement apparatus (300) (S140). &Lt; / RTI &gt; The method may further include emitting the light periodically so that the unmanned object 200 detects light and moves to a vertical upper region of the measurement apparatus 300 (S130).

The measuring apparatus 300 may further include a step S150 of changing the first position coordinate 2 of the positioning point 1 to the changed position coordinate 4 received.

Referring to FIG. 10, a method of driving a GNSS-based unmanned aerial vehicle according to an embodiment of the present invention includes receiving a first position coordinate 2 of a positioning point where a measurement apparatus 300 is located from the measurement apparatus 300 (S220) moving to a second position coordinate (3) corresponding to the first position coordinate (2) based on the GPS information, detecting the measuring device (300) (S230) A step S240 of moving the measuring apparatus 300 to a position in the vertical upper direction of the measuring apparatus 300 based on the detection result of the measuring apparatus 300, (Step S250) of determining the third positional coordinates 4 in the position. The step of detecting the measurement apparatus 300 may include the steps of capturing light emitted from the measurement apparatus 300 and measuring the position of the measurement apparatus 300 based on a comparison result between current and previous image frames of the captured image. May be detected. And transmitting the third position coordinate (4) to the measuring apparatus (300) so that the measuring apparatus (300) changes the first position coordinate (2) to the third position coordinate (460) As shown in FIG.

Referring to FIG. 11, a GNSS-based measurement method according to an embodiment of the present invention includes a method of determining a first position coordinate 2 of a positioning point 1 in which a measurement apparatus 300 is located using GPS information, A first position coordinate transmitting step S320 of transmitting the first position coordinate 2 to the unmanned flying object 200 in step S310, a first position coordinate transmitting step S320 in which the first position coordinate 2 is transmitted, A second position coordinate shifting step (S330) of shifting to the second position coordinate (30) corresponding to the second position coordinate (30), a measuring apparatus detecting step (S340) in which the unmanned air vehicle (200) (300) in which the unmanned air vehicle (200) moves in an upper vertical direction of the metering device (300) based on the position of the unmanned air vehicle (200) And a third position coordinate determination step (S360) of determining a third position coordinate of the second position coordinate.

The metering device detection step in which the unmanned air vehicle 200 detects the metering device 300 may include the steps of capturing light emitted from the metering device 300 and measuring the distance between the metering device 300 ).

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

Further, in the GNSS-based measurement method, the unmanned aerial vehicle 200 may further include a step (S370) of transmitting the third location coordinates 4 to the measurement apparatus 300.

The measurement apparatus 300 of the GNSS-based measurement method further includes a position coordinate correction step (S380) of changing (1) the first position coordinate (2) of the positioning point to the received third position coordinate (4) As shown in FIG. 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 unmanned air vehicle 200 in a first position coordinate transmitting step , The measuring apparatus 300 may transmit the coordinate values of the X and Y axes of the first position coordinate (2) to the unmanned air vehicle 200. The measurement apparatus 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 &

12 is a detailed configuration diagram of an unmanned aerial vehicle according to an embodiment of the present invention. FIG. 13 is a view showing the support body of the unmanned aerial vehicle, and FIG. 14 is a detailed configuration diagram of the surveying apparatus according to the embodiment of the present invention. 15 is a view showing a tilt measuring method. 16 is a flowchart of a tilt angle measurement method based on a GNSS-based measurement method.

12 to 16, the inclination angle measuring method based on the GNSS-based measurement method includes a measuring apparatus moving step S410 for moving the measuring apparatus 300 to a plurality of positioning points 11, 12, 13, Moving the unmanned aerial vehicle 200 horizontally in the vertical upper area of the metering device 300 in correspondence to the moving direction of the metering device 300, A distance calculation step (S430) of calculating the distance between the measurement apparatus (300) and the unmanned air object (200) based on ultrasonic waves transmitted from the measurement apparatus (300) and based on the calculated distance, (S440) of the ground on the path on which the mobile terminal (300) has moved.

Specifically, the unmanned aerial vehicle 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 unmanned air vehicle 200 and the ultrasonic sensor 250 may include an ultrasonic transmitter 251 and an ultrasonic receiver 252, The transmitting unit 251 emits an ultrasonic wave, and the ultrasonic wave receiving unit 252 can receive the ultrasonic waves reflected by the measuring device 300 and returned.

The measurement apparatus 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 apparatus 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 apparatus 300 can calculate the inclination angle of the ground while moving a plurality of positioning points.

For example, the measuring apparatus 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.

Meanwhile, the measuring apparatus 300 can move from the first positioning point 11 to the second positioning point 12. In this case, the measuring apparatus 300 may move from the first positioning point 11 to the second positioning point 12 in a linear distance.

The unmanned aerial vehicle 200 maintains the vertical position with respect to the metering device 300 based on the positional movement through the detection of the metering device 300 described above, Can be moved in the horizontal direction together with the apparatus 300.

In this case, the ultrasonic sensor 250 of the unmanned air vehicle 200 periodically receives the ultrasonic waves reflected by the reflection plate 330 of the ultrasonic wave emitting and measuring apparatus 300, The distance between the air vehicle 200 and the measurement apparatus 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 distance between the unmanned air bag 200 at the first positioning point 11 and the measuring apparatus 300 And the distance between the unmanned object 200 and the measurement apparatus 300 at the second positioning point 12 becomes L1 + L2. Accordingly, the first processor 290 of the unmanned aerial vehicle 200 may calculate the tilt angle based on the information and transmit the tilt angle to at least one of the surveying apparatus 300 and the main controller 400. [

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

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

 <Method of generating background area image>

17 is a view illustrating a background image capturing method using an unmanned aerial vehicle and a surveying apparatus according to an embodiment of the present invention. And FIG. 18 is a flowchart of a background region image generation method based on a GNSS-based measurement method.

17 and 18, a background area image generation method based on a GNSS-based measurement method includes moving a measurement apparatus 300 to a plurality of positioning points 11, 12, 13 and 14, The photographing step S510 of photographing a region facing the side surface of the unmanned flight vehicle 300 in the vertical upper region of the measuring apparatus 300 and the horizontal direction of the unmanned air vehicle 200 corresponding to the moving direction of the measuring apparatus 300, And an unmanned aerial vehicle 200 for moving the unmanned air vehicle 200 located in a vertically upper area of the measurement apparatus 300 in the up and down direction and photographing a region facing the side of the unmanned air vehicle 200, And a plurality of positioning points 11, 12, 13, and 14 are connected to each other in an internal space formed by connecting the plurality of positioning points 11, 12, 13, and 14 on the basis of an image capturing step S530 of the air vehicle and an image captured by the measurement apparatus 300 and the unmanned object 200, To obtain the background image It may include an image acquisition path step (S540).

Specifically, the photographing unit 240 of the unmanned air vehicle 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 201 of the unmanned air vehicle 200 and photographs the ground area to detect an image for detection of the surveying apparatus 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 a side surface of the measuring device 300 and may be disposed on the side surface of the measuring device 300, It is possible to photograph the image of the facing area.

For example, the measurement apparatus 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 unmanned aerial vehicle 200 is located in the upper region of the first positioning point 11 and moves in a direction to approach the measuring apparatus 300 in a vertical direction and moves in a direction away from the measuring apparatus 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 unmanned air vehicle 200 and the measurement apparatus 300 can be transmitted to the main controller 400. The main controller 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 unmanned aerial vehicle
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 measuring device
310 second communication section
320 Light source
380 second receiver
390 second processor
400 main controller

Claims (10)

A first position coordinate determination step of determining a first position coordinate of a positioning point where the measurement apparatus is located using GPS information;
A first position coordinate transmitting step of transmitting the first position coordinate to an unmanned aerial vehicle;
A second position coordinate moving step of moving to a second position coordinate corresponding to the first position coordinate using the GPS information;
A measuring apparatus detecting step in which the unmanned air vehicle detects the measuring apparatus;
An unmanned aerial vehicle position matching step in which the unmanned air vehicle moves in an upper vertical direction of the surveying apparatus based on the detection result; And
And a third position coordinate determination step of determining a third position coordinate of the unmanned air vehicle positioned in an upper vertical direction of the measurement apparatus. The method according to claim 1,
Wherein the measuring apparatus detecting step in which the unmanned air vehicle detects the measuring apparatus comprises:
Capturing light emitted from the measurement apparatus; And
And detecting the measurement apparatus based on the photographed image. 3. The method of claim 2,
Wherein the step of detecting the measuring apparatus based on the photographed image comprises:
And comparing the current and previous image frames to detect the light to detect the metering device. The method of claim 3,
Wherein the measuring device periodically emits the light. The method according to claim 1,
And the unmanned air vehicle further comprises transmitting the third location coordinates to the surveying device. 6. The method of claim 5,
And the measuring apparatus further includes a position coordinate correcting step of changing the first position coordinate of the positioning point to the received third position coordinate. The method according to claim 1,
Wherein the first position coordinates include X, Y, Z coordinate values of a three-dimensional coordinate system,
Wherein the measuring device transmits coordinate values of the X and Y axes of the first position coordinates to the unmanned aerial vehicle in a first position coordinate transmitting step of transmitting the first position coordinates to the unmanned aerial vehicle. The method according to claim 1,
Wherein the measuring apparatus 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 coordinate. Determining a first position coordinate of a positioning point on which the measuring apparatus is located based on the GPS information;
Transmitting the first positional coordinates to a public air vehicle;
Receiving modified position coordinates received from the airborne vehicle located in a vertical upper region of the metering device; And
And the measuring apparatus changes the first position coordinate of the positioning point to the received changed position coordinate. Receiving a first position coordinate of a positioning point at which the measuring apparatus is located from the measuring apparatus;
Moving to a second position coordinate corresponding to the first position coordinate based on GPS information;
Detecting the measuring device;
Moving to a position in the vertical upper direction of the measuring apparatus based on the detection result of the measuring apparatus; And
And determining a third positional coordinate at a position in a vertical direction of the measurement apparatus based on the GPS information.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190049086A (en) * 2017-11-01 2019-05-09 주식회사 두시텍 Unmanned High-speed Flying Precision Position Image Acquisition Device and Accurate Position Acquisition Method Using the same
KR102003187B1 (en) * 2019-06-13 2019-07-23 주식회사 디지털커브 Method and apparatus for modeling resultant image to which each of ground control points including location information of survey site is matched using images captured by unmanned air vehicle

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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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190049086A (en) * 2017-11-01 2019-05-09 주식회사 두시텍 Unmanned High-speed Flying Precision Position Image Acquisition Device and Accurate Position Acquisition Method Using the same
KR102003187B1 (en) * 2019-06-13 2019-07-23 주식회사 디지털커브 Method and apparatus for modeling resultant image to which each of ground control points including location information of survey site is matched using images captured by unmanned air vehicle

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