KR20190010066A - Apparatus of automatic photographing - Google Patents

Abstract

The present invention relates to a linear control method for mixing position recognition of a moving body and an automatic correction prediction algorithm trackable in real time, an autonomous automatic photographing apparatus using the same, and a system thereof. According to the present invention, the apparatus comprises: a camera unit having a camera to photograph a subject, and photographing a moving body by controlling the camera; a driving unit to vertically and horizontally rotate the camera; a communication unit to receive at least an inertial sensor signal of a tag among a satellite position signal and the inertial sensor signal of the tag from the tag attached to the moving body; and a control unit to predict a position of the tag from current reception time of the satellite position signal of the tag to next reception time based on the inertial sensor signal of the tag, and control the driving unit to allow the camera to follow the moving body by using the predicted tag position.

Description

[0001] APPARATUS OF AUTOMATIC PHOTOGRAPHING [0002]

A linear control method in which a position recognition of a moving object and a real-time traceable automatic correction prediction algorithm are mixed together, and a self-automatic photographing apparatus using the method and a system thereof.

Self (self) photography to allow yourself (or moving body) to appear in the center of all images without the help of other third parties in outdoor sports and activities such as soccer, tennis, horse riding, surfing, skiing, mountain biking and sky diving A pan / tilt power-based robot imaging device is now on the market. It can be applied to a wide range of applications where one-person shooting such as personal activity photography, leisure sports, broadcast photography, shopping mall fitting photography is required.

Such an automatic photographing apparatus may cause theft or the like. In addition, the position of the tag is tracked by using the GPS sensor signal. In the sensor sampling, the tracking of the moving object is unnatural, and there occurs a disconnection during the up, down, left, and right movements.

A linear control method in which a position recognition of a moving object and a real-time traceable automatic correction prediction algorithm according to the present invention are mixed together, and a self-automatic photographing apparatus using the method and an object thereof are provided with a tag attached to a body through a photographing apparatus It is possible to make the self-photographing which allows the camera to track itself and capture the body, to prevent the body of the photographing device from being stolen, to accurately track the moving object between the sampling periods of the GPS signal and to predict the up / The purpose is to provide.

The automatic self-photographing apparatus according to an embodiment of the present invention includes: a driving unit that mounts a camera that photographs a subject and rotates the camera up and down and left and right; A camera unit for photographing a moving body by controlling the camera; A communication unit for receiving at least the tag inertial sensor signal among a satellite position signal and an inertial sensor signal of the tag from a tag attached to the body; And estimating a position of the tag from a current reception timing of the satellite position signal of the tag to a next reception timing based on the inertial sensor signal of the tag and using the predicted tag position so that the camera follows the body And a control unit for controlling the driving unit.

The control unit may further include: a satellite positioning processing unit for outputting satellite positioning information of the tag using the tag satellite positioning signal; An inertial positioning processing unit for outputting inertial positioning information by applying a speculative navigation technique to the tag inertial sensor signal; And a positioning filter unit for positioning and filtering at least the inertial positioning information among the inertial positioning information and the tag satellite positioning information to estimate the position of the tag.

The positioning filter unit may reset the positioning filter for filtering when receiving the tag satellite position signal using the tag satellite position signal.

In addition, the positioning filter unit can correct the positioning filter using the accumulated inertial positioning information when the tag satellite position signal is not received.

The control unit may map the estimated tag position to map information when the estimated speed of the tag determined from the estimated tag position information is equal to or greater than a predetermined speed or when the position correction instruction is received from the user, And a tag position correction unit for correcting the estimated tag position into the predetermined specific area when the tag position is out of a predetermined specific area on the map information.

The apparatus may further include a photographing apparatus satellite signal processing section for determining a photographing position by processing a satellite position signal, wherein the control section predicts the rotating direction of the driving section by using the estimated or corrected tag position and the photographing position A driving direction prediction unit; And a driving direction filter unit for performing direction filtering on the predicted turning direction and outputting the filtered direction data to the driving unit.

In addition, when the tag inertial sensor signal is not received, the controller may determine the current position information of the tag using the previous position information of the tag during a predetermined non-signal speculative time.

Also, the controller may control the camera unit to stop or stop the photographing of the camera when the tag inertial sensor signal is not received after the predetermined no-signal presumed time has elapsed.

A main body for supporting the driving unit; And an inertial sensor unit disposed in the main body, the inertial sensor unit having at least one acceleration sensor and at least one angular velocity sensor, and outputting an inertia signal, which is a combination signal of at least one acceleration and at least one angular velocity of the main body, The controller may transmit an alarm signal to the tag through the communication unit when the movement of the main body according to the inertial signal is sensed.

A linear control method in which a position recognition of a moving object and an automatic correction prediction algorithm capable of real-time tracking according to an embodiment of the present invention are combined is characterized in that at least a tag inertia signal among the satellite position signal and the inertial sensor signal of the tag, ; Predicting a position of the tag from a current reception timing of a satellite position signal of the tag to a next reception timing based on an inertia sensor signal of the tag; And causing the camera to photograph the subject to follow the body using the predicted tag position.

A tag satellite positioning processing step of outputting the satellite positioning information of the tag using the tag satellite position signal when the tag satellite position signal is received; An inertial positioning processing step of outputting inertial positioning information by applying a speculative navigation technique to the tag inertial sensor signal; And estimating a position of the tag by positioning filtering at least the inertial positioning information among the inertial positioning information and the tag satellite positioning information.

Resetting a positioning filter for performing positioning filtering using the tag satellite positioning information when the tag satellite signal is received; And modifying the positioning filter using the accumulated inertial positioning information when the tag satellite signal is not received.

Mapping the estimated tag position to map information when the estimated speed of the tag determined from the estimated tag position information is more than a predetermined speed or when a position correction instruction is received from the user; And a tag position correcting step of correcting the estimated tag position into the predetermined specific area when the estimated tag position deviates from a predetermined specific area on the map information.

The method may further include a photographing apparatus satellite signal processing step of processing a satellite position signal to determine a photographing position, wherein the following step is performed by using the estimated or corrected tag position and the photographing position, Predicting; Directionally filtering the predicted pivoting direction; Correcting the filtered direction data; And transmitting the corrected direction data to a driving unit that rotates the camera.

The method may further include determining current position information of the tag using the previous tag position information accumulated during a predetermined non-signal speculative time when the tag inertial sensor signal is not received.

Further, the method may further include controlling the camera unit to stop or stop the photographing of the camera when the tag inertial sensor signal is not received after the predetermined non-signal speculative time has elapsed.

Determining whether there is an acceleration or angular velocity change amount from at least one acceleration sensor and at least one angular velocity sensor disposed in a main body that supports the driving unit; And transmit an alert signal to the tag if the amount of change exceeds a predetermined size.

The real-time predictive correction control system based on the fuselage position recognition and tracking technology according to the present invention transmits an alarm signal to a tag when the photographing device is stolen or fell, thereby notifying the user of the fact that theft is detected in near real time .

In addition, by using various positioning algorithms and filtering techniques, it is possible to track the moving object smoothly without the GPS signal sampling, and the camera movement of up, down, left, and right can be driven without interruption.

FIG. 1 is a block diagram of a real-time prediction correction control system based on a fuselage position recognition and tracking technology according to an embodiment of the present invention,
FIGS. 2 and 3 are block diagrams of the self-photographing apparatus and the tag of FIG. 1,
4 is a detailed block diagram of the control unit of the photographing apparatus,
FIG. 5 is a flowchart of a linear control method in which a position recognition of a moving object and a real-time traceable automatic correction prediction algorithm are combined according to an embodiment of the present invention,
FIG. 6 is a flowchart of the tag position correction method of FIG. 5,
FIG. 7 is a flowchart of the automatic tracking method of FIG. 5,
8 is a flowchart of the exception processing method of FIG.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Also, the fact that the first component and the second component on the network are connected or connected means that data can be exchanged between the first component and the second component by wire or wirelessly.

In addition, suffixes "module" and " part "for the components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

When such components are implemented in practical applications, two or more components may be combined into one component, or one component may be divided into two or more components as necessary. The same reference numerals are given to the same or similar components throughout the drawings, and detailed descriptions of components having the same reference numerals can be omitted and replaced with descriptions of the above-described components.

FIG. 1 is a block diagram of a real-time predictive correction control system based on a fuselage position recognition and tracking technology according to an embodiment of the present invention. FIGS. 2 and 3 are block diagrams of a self- And Fig. 4 is a detailed block diagram of the control unit of the photographing apparatus.

Referring to FIG. 1, a real-time predictive correction control system based on a fuselage position recognition and tracking technology may include a self-photographing apparatus 10 and a tag 30.

The photographing apparatus 10 is a device capable of mounting a camera and can track the tag 30. [

The tag 30 is a device capable of short-range communication and may include, but is not limited to, RFID, NFC, Bluetooth, beacon, WiFi device, and the like. The tag 30 may have an identifier capable of identifying itself, so that the photographing apparatus 10 can track only the specific tag 30.

Referring to FIGS. 2 and 3, the photographing apparatus 10 and the tag 30 according to an embodiment of the present invention will be described in terms of components according to functions.

2, the photographing apparatus 10 includes a camera control unit 100, a driving unit 110, a camera unit 120, a camera communication unit 130, a camera GPS 140, a storage unit 150, Camera IMU 160. < RTI ID = 0.0 >

3, the tag 30 may include a tag control unit 300, a tag communication unit 330, a tag GPS 340, and a tag IMU 360.

The camera unit 120 can control a camera that photographs a subject through a camera lens. The camera may include any device having a camera function, such as a mobile phone, a smart phone, or a tablet computer, in addition to a general camera. The camera itself can process an image frame such as still image and / or moving image obtained by the image sensor, and can process the signal of the image sensor in the camera unit 120 and process it as an image frame. The camera unit 120 can generate photographs having various formats and effects. For example, the camera unit 120 can process image frames such as still images and / or moving images obtained by an image sensor of a camera. In case of shooting by moving picture, it is possible to provide various special functions such as a time lapse function for adjusting the frame and / or a slow motion function. The processed image frame can be displayed on the display unit (not shown) of the photographing apparatus 10. The image frame processed by the camera unit 120 may be stored in the storage unit 150 or may be transmitted to the outside through the camera communication unit 130. [ Two or more cameras may be provided as needed.

The driving unit 110 may be disposed on a fixed frame (body) such as a tripod so that the camera can be rotated up and down and / or horizontally. That is, the driving unit 110 may tilt and pan the camera. In addition, the driving unit 110 may provide various camera work functions such as allowing the camera to elevate up / down or track in / out (track in / out).

The storage unit 150 of the photographing apparatus 10 may store a program for processing and controlling the camera control unit 100 and may store a function for temporarily storing input or output data (still image, moving image, etc.) . The tag 30 may also include a memory (not shown) such that the storage unit 150 of the photographing apparatus 10 functions.

The storage unit 150 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) A RAM, and a ROM.

The tag 30 may further include a display unit (not shown) having the same function as the display unit of the photographing apparatus 10. The display unit of the tag 30 can display the photographs processed by the camera unit 120 through the communication of the camera communication unit 130 and the tag communication unit 330. The display unit of the tag 30 may display a captured image of the camera unit 120 in real time or may delay the image for a predetermined time. The tag 30 stores the captured image received from the image capturing apparatus 10 in the storage unit of the tag 30 so that the user can view the captured image as necessary. Accordingly, the user can view the real time or delayed image, check the result, and take a photograph. Further, the user can confirm the photographic object stored in the storage unit of the tag 30 without having to go to the photographing apparatus 10 after the photographing is completed.

The storage unit 150 of the photographing apparatus 10 may include a map DB 155. The map DB 155 is a database for providing functions such as a navigation service, and is a database necessary for correction of positional information to be described later. The map DB 155 may be data such as navigation map data such as roads, mountains, rivers, buildings, and the like. In addition, the map DB 155 may be a region in which no person can be present in the entire area photographed by image processing or the like, or a specific area in which a bicycle, a motorcycle or the like can not enter is predetermined data.

The camera control unit 100 and the tag control unit 300 can generally control the operation of each part of the photographing apparatus 10 and the tag 30 to control the overall operation of each apparatus. Each control unit may include a unit for separate functions such as recording / playback of multimedia, processing of position information, and the like. Each unit may be constituted by hardware in the control section, or may be constituted by software separate from each control section.

Each of the camera communication unit 130 and the tag communication unit 330 may include at least one of a mobile communication module, a wireless Internet module, and a local communication module. The camera communication unit 130 and the tag communication unit 330 can communicate with each other through one or more protocols of mobile communication, wireless Internet, and short-distance communication.

The mobile communication module transmits and receives radio signals to and from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include various types of data according to a voice call signal, a video call signal, or a text / multimedia message transmission / reception.

The wireless Internet module refers to a module for wireless Internet access. WLAN (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access) and the like can be used as wireless Internet technologies.

The short-range communication module 117 refers to a module for short-range communication. Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra wideband (UWB), ZigBee, and the like can be used as the short distance communication technology.

The camera GPS 140 and the tag GPS 340 may receive position information from a plurality of GPS satellites.

The camera IMU 160 and the tag IMU 360 are units such as an inertial measurement unit capable of measuring the movement of the photographing apparatus 10 and the tag 30 by using an acceleration sensor or a gyro sensor, , Which is also referred to as a motion sensor.

The acceleration sensor used in this unit is widely used as a micro-electromechanical systems (MEMS) technology, which converts an acceleration change in one direction into an electric signal. The acceleration sensor measures the acceleration of a small value built in the airbag system of an automobile and recognizes the minute motion of the human hand and measures the acceleration of a large value used as an input means such as a game There are various types. The acceleration sensor can usually be constructed by mounting two or three axes in one package.

The gyro sensor is a sensor for measuring the angular velocity, and it can sense the direction of rotation with respect to the reference direction.

The tag IMU 360 is a unit necessary for grasping or predicting the position information of the tag 30. The camera IMU 160 is a unit for discriminating whether or not the photographing apparatus 10 is moving. The user is photographed far away from the photographing apparatus 10, and if there is no companion, there is no one around the photographing apparatus 10. [ Thus, when the photographing apparatus 10 is stolen, or is fallen due to wind or the like, it is necessary to inform the user. Therefore, in order to determine the motion of the photographing apparatus 10, the photographing apparatus 10 preferably includes a camera IMU 160 which is a motion sensor.

The tag 30 may further include an alarm unit (not shown). The alarm unit can output a signal for notifying the occurrence of an event of the photographing apparatus 10. As described above, an example of the event is theft or fall of the photographing apparatus 10. [ The distinction between the theft and the fall of the photographing apparatus 10 can be judged by whether the photographing apparatus 10 is continuously moving or the like. The alarm unit can output an audio signal or a vibration type signal.

The tag 30 may have various user interfaces (not shown). The user interface may include a button for changing the shooting mode (still image, moving image, time lapse, slow video, etc.), and a call button for transmitting a control signal for causing an image pickup device to sound an alarm.

The photographing apparatus 10 and the tag 30 may further include a power supply unit (not shown) that receives external power and internal power under the control of each control unit and supplies power required for operation of each component have.

4, the camera control unit 100 includes a GPS processing unit 210, a positioning filter unit 220, an IMU processing unit 230, a position correction unit 240, a driving direction prediction unit 250, A filter 260, and a drive data correction unit 270.

The GPS processing unit 210 can output the satellite positioning information of the photographing apparatus 10 and the tag 30. [ The GPS processing unit 210 calculates the position, velocity, acceleration, direction angle of the photographing apparatus 10 and the tag 30 from the position information of each of the camera GPS 140 and the tag GPS 340, (pseudorange) and the like can be determined. The GPS processing unit 210 may perform processing such as Kalman filtering to remove bias or noise of the position information according to the GPS signal.

The IMU processing unit 230 may apply inferential navigation techniques to inertial (motion) sensor signals of the tag 30 to output inertial positioning information. The IMU processing unit 230 can determine the motion, acceleration, azimuth, velocity, etc. of the imaging device 10 and the tag 30 from the sensor signals of the camera IMU 160 and the tag IMU 360, have. The IMU processing unit 230 may generate accurate position information from a variety of filters, e.g., the initial position and the Kalman filter for correcting position error and sensor error from the acceleration information of the motion sensor. The IMU processing unit 230 may perform various positioning algorithms. This positioning algorithm can be applied to a conventional dead reckoning (DR) scheme.

The positioning determination algorithm and the bias / error correction filtering of the GPS processing unit 210 and the IMU processing unit 230 may be performed in the positioning filter unit 220.

The positioning filter unit 220 locates and filters at least one of the satellite positioning information of the tag 30 determined by the GPS processing unit 210 and the inertial positioning information of the tag 30 determined by the IMU processing unit 230, 30 can be estimated. The positioning filter unit 220 receives the satellite signals of the tag GPS 340 and the tag IMU 360 in place of the satellite positioning and inertial positioning information of the tag 30 output from the GPS processing unit 210 and the IMU processing unit 230. [ May be used. The positioning filtering may be a Kalman filter or the like. It is assumed that the following filtering is performed by the Kalman filter.

It is preferable that the positioning filter unit 220 performs positioning filtering of the inertial positioning information of the tag 30 at least. The positioning filter unit 220 may use various positioning algorithms. The positioning algorithm can be an element of location filtering.

When the GPS signal is good, the positioning filter unit 220 may use a strong positioning algorithm, a weak matched positioning algorithm, etc. for the satellite positioning signal and the inertial positioning signal. For example, the robust positioning algorithm may include acceleration filtering, direction filtering, velocity filtering, and the like for performing error estimation and correction based on acceleration, direction angle, and velocity information from the tag inertial positioning information, GPS / inertial sensor rigid-coupled guessing navigation using GPS and inertial position information and satellite positioning information.

The positioning filter unit 220 can estimate the position of the tag 30 using only the tag inertia positioning information when the GPS signal is bad. For example, the positioning filter unit 220 obtains the positional information obtained by performing acceleration, velocity, and direction angle filtering from the inertial sensor signal in the tag IMU 360, and uses the sensor error correction value transmitted from the Kalman filter And correction for each sensor error can be performed.

The positioning filter unit 220 can continuously perform positioning filtering using cumulative inertial position information when the GPS signal continues to come in or is sampled at intervals between GPS signals. For example, the GPS signal is received in units of 1 second, and it may be difficult to accurately locate the tag 30 in such a time period. For example, the accuracy of the position of the tag 30 can be increased by receiving the inertial sensor signal by sampling in units of 200 ms, that is, five times.

 The positioning filter unit 220 preferably utilizes the accumulated inertial positioning information to modify various factors of the positioning filter. Further, when the positioning filter unit 220 receives the GPS signal, it is preferable to use the tag satellite position signal to reset various factors of the positioning filters.

When the estimated speed of the tag 30 determined from the tag position information estimated by the positioning filter unit 220 is equal to or higher than the predetermined speed or when the position correction instruction is received from the user, the position correction unit 240 corrects the estimated tag Map the position to the map DB 155 and correct the estimated tag position into the predetermined specific area when the estimated tag position deviates from a predetermined specific area on the map DB 155. [

The driving direction prediction unit 250 can estimate the turning direction of the driving unit 110 using the estimated or corrected tag position and the photographing position.

The driving direction filter unit 260 may direction-filter the predicted tilting direction and output the filtered direction data to the driving unit 110.

The drive data correction unit 270 may apply linear interpolation or perform PID operations for the natural trajectory tracking drive between the filtered directional data.

Also, when the tag inertial sensor signal is not received, the camera control unit 100 may determine the current position information of the tag using the previous position information of the tag 30 during a predetermined no-signal presumed time. Such a no-signal state may occur when the tag 30 is positioned beyond a distance capable of wireless communication from the photographing apparatus 10, an obstacle exists in the middle, and the like. The tag satellite signal may be good but the satellite position information of the tag 30 or the satellite signal can not be received by the photographing apparatus 10 so that the state of communication with the tag 30 may be set to a bad state.

At this time, the camera controller 100 may control the camera unit 120 to stop or stop the photographing of the camera when the tag inertial sensor signal continues to be received after the predetermined no-signal presumption time has elapsed .

The camera control unit 100 may transmit an alarm signal to the tag 30 through the camera communication unit 130 when it senses movement of the body of the photographing apparatus 10 according to the inertia signal of the camera IMU 160 . In this case, the tag 30 can notify the user of the occurrence of theft or fall through the notification unit. The tag 30 can distinguish between theft and fall and inform the user of theft.

FIG. 5 is a flow chart of a linear control method in which a mobile body position recognition and real time traceable automatic correction prediction algorithm are combined according to an embodiment of the present invention, FIG. 6 is a flowchart of a tag position correction method, Fig. 8 is a flow chart of the exception handling method.

Referring to FIG. 5, the camera controller 100 may determine whether the inertial sensor signal is received from the tag 30 (S410). When the inertial sensor signal is not received, the camera control unit 100 may perform exception processing for the inertial sensor signal (S420).

Referring to FIG. 8, when the camera control unit 100 receives no tag inertial sensor signal (S560), the camera control unit 100 uses the existing accumulated position information of the tag 30, (Step S570). If the tag inertia signal is not received even after a predetermined time (non-reception speculative time) elapses, the camera controller 100 may stop or suspend the photographing of the camera (S580). Camera shooting stops and pauses can be done by user selection.

Referring to FIG. 5, upon receiving the inertial sensor signal, the camera controller 100 processes the inertial sensor signal to extract acceleration, velocity, and direction angle (S430). At this time, the camera control unit 100 can easily extract acceleration or the like of the tag 30 from the inertial sensor signal or perform prediction / correction using various filtering.

The camera control unit 100 may determine whether the satellite signal is received from the tag 30 (S440).

When the satellite signal is not received, the camera control unit 100 can modify the filter by estimating the factor such as the Kalman filter used in the positioning filter unit 220 and the error covariance (S445).

Upon reception of the satellite signal, the camera control unit 100 can reset various factors such as the Kalman filter estimated value, error covariance, and Kalman gain used in the positioning filter unit 220 based on the measured data S450). The camera control unit 100 can easily extract the satellite position information from the satellite signal or predict or correct the current satellite position information using various filtering techniques to determine the position of the tag 30 (S455, S460 ).

The camera control unit 100 can perform positioning filtering of the tag 30 by combining satellite position information and inertial position information in various ways (S470). The positioning filtering is performed in the positioning filter unit 220, and a detailed description thereof is given with reference to the description of the positioning filter unit 220 described above. The Kalman filter of the positioning filter unit 220 may be used as a filter after the positioning filter reset step S450 or the positioning filter correction step S445.

The camera control unit 100 maps the position information of the estimated / corrected tag 30 to the map DB 155 to determine whether or not the tag position information can not be located on the map and correct the tag position information (S480).

A detailed description of the position correction is as follows. Referring to FIG. 6, it is initialized whether the speed of the tag is equal to or higher than a predetermined speed or whether the position is corrected (S480) by a user instruction (S510). The camera control unit 100 can map the tag position to the map DB 155 (S520). When the estimated tag position is out of a predetermined specific area on the map information according to the map DB 155, the camera control unit 100 (the position correction unit 240) can correct the estimated tag position to be located in a specific area have. It is assumed that the tag 30 is located in an area where the ride can not be moved, such as a bicycle, a motorcycle, or a horse. When correcting the position, it can be applied as one of several policies. A plurality of policies may be applied according to predetermined priorities. The policies can place the current position of the tag 30 in a linear position (a direction close to a straight line) as far as the existing position. It is possible to correct the tag so that the tag is positioned on the straight line connecting the position of the existing tag 30 and the photographing apparatus 10. [ If these policies are applied, the final subordinate policy that returns the current position of the tag to the previous position may be applied if the user location is in an insoluble location. If this final subordinate policy continues to be applied, the photographing apparatus 10 can stop or stop the photographing.

The camera control unit 100 may control the driving unit 110 so that the camera follows the tag 30 in comparison with the positional information of the photographing apparatus 10 when finally determining the position of the tag 30 ). A detailed description of the following step S490 is as follows.

7, the camera control unit 100 predicts the driving direction by combining the tag position information and the camera position information (S510), calculates the driving data by filtering (Kalman) the driving direction (S520) (Step S530), and drives the driving unit 110 based on the corrected drive data (step S540).

The present invention can be implemented in hardware or software. The present invention can also be embodied as computer readable code on a computer readable recording medium. That is, in the form of a recording medium including instructions executable by the computer. Computer-readable media includes any type of media in which data that can be read by a computer system is stored. Computer readable media can include computer storage media and communication storage media. Computer storage media includes any storable medium embodied as any method or technology for storage of information such as computer readable instructions, data structures, program modules, and other data, including volatile / nonvolatile / hybrid type memory Whether it is separated / non-detachable, and the like. Communication storage media include modulated data signals or transmission mechanisms, such as carrier waves, any information delivery media, and the like. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers skilled in the art to which the present invention pertains.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

10: photographing apparatus (10) 30: tag (30)
100: camera control unit (100) 110: driving unit (110)
120: camera unit (120) 130: camera communication unit (130)
140: Camera GPS (140) 150: Storage unit (150)
155: map DB 155: camera IMU 160:
300: tag control unit 300: 330: tag communication unit 330:
340: tag GPS 340: tag IMU 360:
210: GPS processing unit 210: 220: positioning filter unit 220:
230 IMU processing unit 230: Position correction unit 240:
250: Driving direction predicting unit (250) 260: Driving direction filter unit (260)
270: drive data correction unit 270,

Claims (5)

A driving unit which mounts a camera for photographing a subject and rotates the camera vertically and horizontally;
A camera unit for photographing a moving body by controlling the camera;
A communication unit for receiving at least the tag inertial sensor signal among a satellite position signal and an inertial sensor signal of the tag from a tag attached to the body; And
The position of the tag from the current reception position to the next reception position of the satellite position signal of the tag is predicted based on the inertial sensor signal of the tag and the camera is controlled to follow the body using the predicted tag position And a control unit for controlling the driving unit. The method according to claim 1,
Wherein,
A satellite positioning processing unit for outputting satellite positioning information of the tag using the tag satellite positioning signal;
An inertial positioning processing unit for outputting inertial positioning information by applying a speculative navigation technique to the tag inertial sensor signal; And
And a positioning filter unit which performs positioning filtering of at least the inertial positioning information among the inertial positioning information and the tag satellite positioning information and estimates the position of the tag. 3. The method of claim 2,
When the estimated speed of the tag determined from the estimated tag position information is equal to or greater than a predetermined speed or when a position correction instruction is received from the user and the estimated tag position deviates from a predetermined specific area, Further comprising a tag position correction unit for correcting the tag position within the predetermined specific area. The method of claim 3,
And a photographing apparatus satellite signal processing section for processing the satellite position signal to determine the photographing position,
Wherein,
A driving direction prediction unit for predicting a turning direction of the driving unit using the estimated or corrected tag position and the photographing position; And
And a driving direction filter unit for performing direction filtering on the predicted turning direction and outputting the filtered direction data to the driving unit. The method according to claim 1,
Wherein the control unit determines the current position information of the tag using the previous position information of the tag during a predetermined non-signal speculative time when the tag inertial sensor signal is not received.

Images