KR20210117467A - Apparatus and Method for Detecting Precise Posture of a substance by Using a sensor - Google Patents

Abstract

The present invention relates to a precise posture measurement apparatus for equipment using a sensor and a method thereof. According to one embodiment of the present invention, the precise posture measurement apparatus for equipment comprises: a GPS receiver to measure a position value of the equipment as GPS coordinates; a first mechanism mounted on the equipment for precise posture measurement; a second mechanism aligned by the first mechanism to measure position; and a sensor attached to the equipment to measure roll and pitch values of the equipment. The first mechanism includes a laser pointer to align the second mechanism, and an equipment connection unit to be stably connected to the equipment. According to the present invention, precise posture information can be obtained regardless of environmental factors around equipment, and postures can be more precisely measured through laser pointer aim alignment.

Description

Apparatus and Method for Detecting Precise Posture of a substance by Using a sensor

The present invention relates to an apparatus and method for accurately measuring the posture of equipment by using a GPS receiver and a sensor.

In general, an electronic compass is most commonly used to measure the position, posture, and altitude of equipment. Often, an electronic compass includes a geomagnetic sensor including an x-axis sensor, a y-axis sensor, and a z-axis sensor, and by using the geomagnetic sensor, the strength of the Earth's magnetic field can be measured to measure the posture of equipment.

On the other hand, an electronic compass including a geomagnetic sensor measures the strength of the Earth's magnetic field, so that accurate posture information can be measured only when placed away from metals, high currents, magnets, motors, etc., which are causes of magnetic field distortion. If, after installing equipment on a metal structure or on the roof of a building, etc., it is desired to acquire posture information, accurate posture information cannot be obtained, so a means for solving this problem is required.

In order to solve the problems of the prior art, it is an object of the present invention to provide an apparatus and method for estimating a precise posture of equipment using a sensor.

Another object of the present invention is to provide a method for measuring the posture of a device precisely without being affected by metals or magnets existing around it using a GPS receiver.

Another object of the present invention is to provide a posture estimation apparatus and method that provide higher posture precision through laser pointer aiming alignment.

Another object of the present invention is to derive an accurate yaw value by reducing a GPS error that may occur by increasing the distance of a GPS positioning point.

Other objects and advantages of the present invention may be understood by the following description, and will become more clearly understood by the examples of the present invention. Further, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof indicated in the claims.

In order to achieve the above object, the apparatus for measuring a precise posture of the equipment according to an embodiment of the present invention includes a GPS receiver for measuring the position value of the equipment as GPS coordinates, a first mechanism mounted on the equipment for precision posture measurement, A second mechanism aligned by the first mechanism to measure a position, and a sensor attached to the equipment to measure roll and pitch values of the equipment, wherein the first mechanism includes a laser for aligning the second mechanism It may include a pointer and a device connection unit for stably connecting to the device.

In addition, the second device includes a laser receiver for aligning the second device to the exact center of the position pointed by the laser pointer of the first device, and a GPS antenna used to derive the GPS coordinates in conjunction with the GPS receiver. may include

In addition, the second mechanism may be characterized in that it is arranged one by one on the left side and the right side of the equipment.

In addition, it may further include a signal processing device for converting the GPS coordinates into East-North-Up (ENU) coordinates to derive roll (r), pitch (p), and yaw (y) values.

In addition, the ENU coordinates may be obtained by converting the GPS coordinates of the right second device based on the GPS coordinates of the left second device of the device.

Also, the signal processing apparatus may derive cos(y) and sin(y) values through equations using the ENU coordinates.

In addition, the signal processing apparatus may be characterized in that the yaw (y) value is derived through an equation using the cos(y) and sin(y).

In addition, the sensor may be a sensor including an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.

In order to achieve the above object, the precision posture measurement method of the equipment by the precision posture measuring device according to an embodiment of the present invention includes the steps of connecting the equipment and the device, a roll to the equipment, a sensor for obtaining a pitch value attaching the device, aligning the device for equipment posture measurement, deriving coordinates by performing positioning of the device, and deriving the roll (r) and pitch (p) values of the equipment using the sensor and deriving roll (r), pitch (p), and yaw (y) values using the coordinates and the roll and pitch values.

In addition, the step of deriving the coordinates may include deriving the ENU coordinates from the GPS coordinates obtained using a GPS receiver.

In addition, the step of deriving the coordinates may be characterized in that the position of the second instrument on the right is represented by ENU coordinates based on the position measured by the second instrument on the left side of the equipment using the device.

In addition, the aligning step may include pointing the laser to the center of the aiming point of the second device of the device through a laser pointer included in the device, aligning the second device of the device to the left and right sides of the device may include steps.

In addition, the sensor attached to the equipment may be characterized as a sensor including an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.

In addition, deriving the roll (r), pitch (p), and yaw (y) values may include deriving cos(y) and sin(y) through equations.

In addition, in the step of deriving the roll (r), pitch (p), and yaw (y) values, deriving the yaw (y) value through the equation using the cos(y) and sin(y) can be characterized.

In order to achieve the above object, the precision posture measurement system of the equipment according to an embodiment of the present invention is a device that is a subject of posture measurement, a sensor for deriving a precise posture of the equipment as GPS coordinates and outputting roll and pitch values A precision posture measuring device comprising a, a signal processing device for deriving ENU coordinates using the GPS coordinates derived through the device, and for deriving roll, pitch, and yaw values, one or more support for supporting the precision posture measuring device structures may be included.

In addition, the signal processing device may be characterized in that the position of the right second mechanism included in the precision posture measuring device is represented by ENU coordinates based on the position measured by the second mechanism on the left side of the equipment.

In addition, the sensor may include an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.

According to the present invention, in estimating the posture of equipment using a sensor and a GPS receiver, more precise estimation may be possible.

According to the present invention, it is possible to acquire precise posture information regardless of environmental factors around the equipment.

According to the present invention, by extending the distance between positioning points through aiming alignment of the laser pointer, it is possible to reduce an error in the GPS value that may occur when deriving a yaw value, and further improve the precision of posture estimation.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be.

1 shows a sensor that can be applied to the present invention.
Figure 2 shows the result of the sensor that can be applied to the present invention.
3 illustrates a precision posture measurement system including a precision posture measurement device according to an embodiment of the present invention.
Figure 4 shows a first mechanism that can be included in the device of Figure 3 according to an embodiment of the present invention.
5 illustrates a second mechanism that may be included in the device of FIG. 3 according to an embodiment of the present invention.
6 illustrates a signal processing apparatus for processing information acquired through a sensor and a GPS receiver according to an embodiment of the present invention.
7 is a flowchart illustrating a posture precision measurement method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein.

In describing an embodiment of the present invention, if it is determined that a detailed description of a well-known configuration or function may obscure the gist of the present invention, a detailed description thereof will be omitted. And, in the drawings, parts not related to the description of the present invention are omitted, and similar reference numerals are attached to similar parts.

In the present invention, the components that are distinguished from each other are for clearly explaining their respective characteristics, and do not necessarily mean that the components are separated. That is, a plurality of components may be integrated to form one hardware or software unit, or one component may be distributed to form a plurality of hardware or software units. Accordingly, even if not specifically mentioned, such integrated or dispersed embodiments are also included in the scope of the present invention.

In the present invention, components described in various embodiments do not necessarily mean essential components, and some may be optional components. Accordingly, an embodiment composed of a subset of components described in one embodiment is also included in the scope of the present invention. In addition, embodiments including other components in addition to the components described in various embodiments are also included in the scope of the present invention.

In the present invention, components described in various embodiments do not necessarily mean essential components, and some may be optional components. Accordingly, an embodiment composed of a subset of components described in one embodiment is also included in the scope of the present invention. In addition, embodiments including other components in addition to the components described in various embodiments are also included in the scope of the present invention.

In the present invention, terms such as first, second, etc. are used only for the purpose of distinguishing one component from other components, and unless otherwise specified, do not limit the order or importance between the components. Accordingly, within the scope of the present disclosure, a first component in one embodiment may be referred to as a second component in another embodiment, and similarly, a second component in one embodiment is referred to as a first component in another embodiment. can also be called

When a component of the present invention is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but other components may exist in between. It should be understood that there may be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that there is no other element in the middle.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

Figure 1 shows a sensor that can be applied to the present invention, Figure 2 is an embodiment when using the sensor shown in Figure 1 of the equipment roll (roll, r), pitch (pitch, p), yaw ( yaw, y) shows the result of outputting the values.

As an embodiment, the sensor may include a geomagnetic sensor, an angular velocity sensor, and an acceleration sensor. Accordingly, the sensor may be an IMU sensor including a geomagnetic sensor, an angular velocity sensor, and an acceleration sensor, but is not limited thereto.

As an embodiment of the sensor, an Inertial Measurement Unit (IMU) sensor is an inertial measurement device, and is a device that measures the speed and direction, gravity, and acceleration of a moving object. In general, it may include an accelerometer sensor, a gyroscope sensor, a magnetometer sensor, and the like. However, the present invention is not limited thereto, and may further include a configuration such as an accelerometer or a geomagnetic sensor depending on the type.

The IMU sensor may indicate roll, pitch, and yaw of the measurement target device by using the x, y, and z coordinate system. For example, roll may be represented by an x-axis, pitch may be represented by a y-axis, and yaw may be represented by a z-axis, but is not limited thereto. The IMU sensor measures how much the x-axis, y-axis, and z-axis are skewed with respect to the east, north, and the opposite direction of Earth's gravity, i.e., the direction of the sky. Roll (left-right tilt), pitch (front-back tilt) ) and yaw (left-right rotation) may be provided as angle data, and acceleration values for the three axes may also be indicated.

FIG. 2 shows the inclination values for the x, y, and z axes measured at regular time intervals when the IMU sensor changes. In ypr written on the left of the result value, y may mean yaw, p may mean pitch, and r may mean roll, and obtaining a change value for each axis as a result Examples are shown. The unit may be expressed in degrees (°). It can be seen that the initial values of roll initial value (101.26), pitch initial value (-65.73), and yaw (-15.25) are slightly changed as the IMU sensor moves.

The apparatus for precision measuring a posture of equipment according to an embodiment of the present invention may include a sensor including the IMU sensor, and may further include a laser pointer, a GPS receiver, and the like. In addition, the precise posture measurement method of the equipment may be to use the posture precision measuring device. The detailed configuration of the apparatus and the flow of the method will be described in more detail with reference to FIGS. 3 to 7 below.

When describing an embodiment of the present invention shown in FIGS. 3 to 7 below, it is assumed that the sensor is an IMU sensor for clarity of explanation. However, the present invention is not limited thereto.

3 illustrates a precision posture measurement system including a precision posture measurement device according to an embodiment of the present invention.

As an embodiment, the posture precision measuring device includes a GPS receiver 302 , a GPS antenna 303 , a first device 309 , a second device 304 , 311 , a laser pointer 306 , and a laser receiver 305 . and a sensor 307 , and may also be implemented in a form including a signal processing device 301 , a support structure 308 , and the like. It is not limited to the above embodiment.

In more detail, the precise posture measurement system including the posture precision measuring device according to an embodiment of the present invention includes a signal processing device 301 , a GPS receiver 302 , a GPS antenna 303 , a second mechanism 304 , 311 ), a laser receiver 305 , a laser pointer 306 , a sensor 307 that can be attached to the device 310 to be measured for posture, a support structure 308 , and a first device 309 . can do. That is, it may include a signal processing device 301 , a precision posture measuring device, equipment 310 to be measured posture, and a support structure 308 . The precise posture measuring device may be a posture precision measuring device according to an embodiment of the present invention, but is not limited thereto.

As an embodiment, the signal processing device 301 converts the position value (GPS coordinate value) measured by the precision posture measurement device into ENU coordinates, and is derived using a sensor that may be included in the ENU coordinates and the posture precision measurement device. The correct posture (roll, pitch, yaw value) of the equipment 310 can be derived by using all of the posture values (roll, pitch values). This will be explained in more detail in FIG. 6 .

As an embodiment, the GPS antenna 303 that may be included in the precision posture measurement device may be included in each of the second mechanisms 304 and 311, but will be described separately in order to clearly explain the function of each component.

A general GPS receiver still has a fairly large position error despite its high effectiveness, and generally an error of about 5 to 10 m may occur. Therefore, in the present invention, a high-precision GPS receiver can be preferably applied, and it is known that the high-precision GPS receiver generally has only an error within a few centimeters. However, even an error within a few centimeters may be fatal in an embodiment of the present invention, and when the distance between the left and right sides of the equipment performing positioning is close, there is a fear that the error in deriving the yaw value may increase.

In order to supplement this, in the present invention, the second mechanism placed in an aligned position through the first mechanism 309 for aligning the horizontal axis, which can be connected to the equipment 310 and to which the laser pointer can be mounted through the laser connection part. By mounting the GPS antenna 303 in the , it is possible to dramatically increase the distance of the GPS positioning point. By increasing the distance between GPS positioning points, even a GPS error within a few centimeters can be further reduced.

By receiving the GPS signal, the position of the GPS antenna 303 may be measured using the GPS receiver 302, and preferably, the position of the GPS antenna 303 may be accurately measured through the high-precision GPS receiver. In the following description, it is assumed that a high-precision GPS receiver is used as an embodiment.

Using the GPS receiver 302 and a second mechanism to be described in detail below, the GPS coordinate values on the left and right sides of the equipment 310 for posture measurement are acquired, and the result values (roll, pitch) obtained from the sensor 307 are obtained. value), it is possible to easily derive the yaw value of the equipment 310 . This will be described in more detail with reference to FIG. 7 .

In one embodiment, the second devices 304 and 311 are each connected to a laser receiving unit 305 for accurately aligning the second device to the laser pointing position, a GPS antenna coupling unit for attaching a GPS antenna, and a supporting structure. It may include a support structure connection for the. In addition, it may include a GPS antenna, but is not limited thereto. On the other hand, the second device may be placed on the left side and the right side of the equipment 310 to be measured by posture, respectively. This will be described in more detail with reference to FIG. 5 .

As an embodiment, the laser pointer 306 that may be implemented in a form mounted on the first device may be any laser pointer, and there is no limitation. In order to increase the distance between positioning points, the laser pointer 306 may perform laser pointer aiming alignment through a laser receiver included in the second mechanism. Accordingly, the posture of the equipment can be precisely measured.

As an embodiment, the sensor 307 may include the IMU sensor described with reference to FIGS. 1 and 2 . It is assumed that the sensor has a form attached to the device 310 to be measured for posture.

The sensor 307 used for measuring the posture of the equipment may include a geomagnetic sensor, an acceleration sensor, and an acceleration sensor as described above, and it is known that an incorrect posture value is returned due to the surrounding magnetic environment. This is a phenomenon that occurs because a geomagnetic sensor that can be included in the sensor is used when deriving a yaw value. Therefore, in reality, the roll value and the pitch value may not be affected by the magnetic environment. Therefore, even if it is placed in a magnetic environment, the pitch value and roll value obtained from the sensor 307 are not affected and can be used as it is. Once the coordinate values are obtained, the yaw value can be easily derived.

In addition, as an embodiment, the support structure 308 may include one or more, for the purpose of supporting the first mechanism 309 and the second mechanism 304 and 311 that may be included in the precision posture measurement device. can be used For example, it may include a tripod sold commercially, but is not limited thereto.

In one embodiment, the first mechanism 309 includes a laser connection part for mounting a laser pointer, an equipment connection part for connecting the equipment and the first mechanism, a support structure that can be a horizontal axis, and a support structure for connection with the support structure. It may include a connection part, but is not limited thereto. This will be described in more detail with reference to FIG. 4 .

As an embodiment, the equipment 310 that is the subject of posture measurement includes a separate sensor for transmitting and receiving information in conjunction with the IMU sensor 307, or including the IMU sensor 307 itself instead of the separate sensor. It may have a structure. Also, the equipment itself may mean a sensor. It is not limited to any specific structure.

However, in one embodiment of the present invention shown in FIG. 3, the equipment 310 and the IMU sensor 307, which are the target of posture measurement, are shown separately in order to clearly explain the function according to each configuration.

4 is a detailed view of a first mechanism that may be included in the precision posture measurement apparatus according to an embodiment of the present invention.

As an embodiment, the first mechanism shown in FIGS. 3 and 4 is for attaching to the equipment to be measured for posture, and may include a laser connection part 401 and an equipment connection part 402, but is limited thereto. Therefore, it is also possible to further include, for example, a support 403 and a support structure connection 404 .

In addition, the first mechanism may be implemented in a form including the laser pointer (FIGS. 3 and 306), but will be described separately in order to describe the function of each configuration in detail. However, the present invention is not limited thereto.

For example, the laser connection unit 401 may be for mounting a laser pointer. As described above, the laser pointer may serve to increase the distance between the positioning points through aiming alignment with the laser receiver of the second device, and may serve to connect the laser pointer and the first device. In addition, according to another embodiment of the present invention, it may not be included in the first appliance.

The equipment connection unit 402 may provide a function of connecting the equipment to be measured for posture and the first instrument. Any form is possible as long as the equipment and the first appliance are connected, and it is not limited to any particular form.

As an embodiment, the support 403 may be configured to be level with the ground in measuring the posture of the equipment. That is, it can serve as a horizontal axis. Therefore, as long as it can serve as a horizontal axis, it may be the support.

The support structure connection 404 may be, for example, used to mount the first mechanism to the support structure (FIGS. 3 and 308), and if the support structure is not required, the first mechanism also includes the support structure connection part. may not be included. In addition, the supporting structure may include a general tripod or the like. It is not limited to the specific structure or form described above.

5 is a detailed view of a second mechanism that may be included in the precision posture measurement apparatus according to an embodiment of the present invention.

As an embodiment, the second mechanism that may be included in the precision posture measurement device may include a GPS antenna connection unit 501 , a laser receiver 502 , and a tripod connection unit 503 , but is not limited thereto. It is also possible that the second mechanism includes a GPS antenna, but it will be described separately in order to clearly explain the function according to each configuration.

For example, the GPS antenna connection part 501 may be a junction part for connection with the GPS antenna, and there is no limitation in its structure or shape. In addition, according to another embodiment of the present invention, it may not be included in the second mechanism.

As an embodiment, the laser receiver 502 may be aligned so that a laser pointer connected to the laser connection part 401 of the first mechanism is aimed at the center of the front shape of the laser receiver 502 . This may be performed on both of the second instruments placed on the left and right sides of the equipment to be measured for posture. This may be the same as FIG. 5 b, and the first mechanism may be the same as described with reference to FIG. 3 .

In addition, the support structure connection unit 503 may be configured to be connected to the support structure 308 , and is not limited to a specific structure or shape, and may be the same as that included in the first mechanism. If the support structure is not used, it may be configured in a form in which the support structure connection part is not included in the second mechanism. In addition, the supporting structure may include a general tripod or the like. It is not limited to the specific structure or form described above.

6 illustrates a signal processing apparatus for processing information obtained through a sensor and a high-precision GPS receiver according to an embodiment of the present invention. As an embodiment, in more detail, the signal processing device 602 includes a receiving unit 604 for receiving information 601 obtained through a sensor and a high-precision GPS receiver, ENU coordinates and rolls using the received information, A processor 605 for deriving a pitch value and the like and deriving a yaw value using the ENU coordinates and the measured roll and pitch values may be included, and this may be output as a result value 603 .

For example, the signal processing device 602 receives the result value corresponding to the roll and pitch slope received from the sensor ( FIGS. 3 and 307 ) and the GPS receiver ( FIGS. 3 and 302 ) and the GPS antenna ( FIGS. 3 and 303 ) through the It may be a device that processes the derived GPS coordinate values. Accordingly, the result value and the coordinate value may correspond to the acquired information. In addition, the signal processing apparatus may convert the position (GPS coordinates) of the right second device ( FIGS. 3 and 311 ) into ENU coordinates based on the position (GPS coordinates) measured from the second device on the left side of the equipment.

As an embodiment, the signal processing device 602 may be a signal processing device included in the precision posture measuring device and system illustrated in FIG. 3 , but is not limited thereto.

The function of the signal processing apparatus and how the signal processing apparatus is used in harmony with other components will be described in more detail with reference to FIG. 7 . The function or configuration of the signal processing device 602 is not limited to the above embodiment.

7 is a flowchart illustrating a posture precision measurement method according to an embodiment of the present invention. As an embodiment, in more detail, the method for measuring posture precision includes the steps of connecting the posture measurement target equipment and the device (S701), aligning the device for equipment posture measurement (S702), positioning of the device performing (S703), deriving ENU coordinates, roll, and pitch values using the device (S704), and using ENU coordinates, roll, and pitch values to derive roll, pitch, and yaw values of the equipment Step S705 may be included.

As an embodiment, the precision posture measurement method may be performed in a precision posture measurement system including a precision posture measurement device or may be performed using the precision posture measurement device, wherein the precision posture measurement system and apparatus are described in FIG. may include Hereinafter, it is assumed that the precise posture measuring method is performed using the precision posture measuring device of FIG. 3 . However, the present invention is not limited thereto.

For example, the step of connecting the measurement target device and the device ( S701 ) may be connected to the measurement target device using a device connection part that may be included in a first mechanism that may be included in the device. This may be as described in detail with reference to FIGS. 3 and 4 .

Also, before the step of aligning the device for measuring the posture of the device, it may include attaching a sensor to the device to obtain roll and pitch values. The sensor may be a sensor including the geomagnetic sensor, the acceleration sensor, and the angular velocity sensor described in detail with reference to FIGS. 1 and 2 . In addition, it may include an IMU sensor.

As an embodiment, the step (S702) of aligning the device for equipment posture measurement may include, if the laser pointer is not included in the first device that may be included in the device, a laser at the laser connection part that may be included in the first device. Mounting a pointer and aligning the second device so that the laser is pointed at the center of the aiming point by firing a laser to the laser receiver of the second device that can be included in the device. On the other hand, if the laser pointer is included in the first device, it may include aligning the second device so that the laser is pointed at the center of the aiming point by directly emitting a laser to the laser receiver of the second device. This may include aligning the second instrument on the left side and the right side of the equipment in the same manner, respectively.

In one embodiment, the step (S703) of performing the positioning of the device may include the GPS of the second device if the GPS antenna is not included in the second device aligned through the previous step (S702), which may be included in the device. It may include the step of installing a GPS antenna using an antenna connection part, and if the GPS antenna is originally included in the second device, receiving a GPS signal immediately and accurately measuring the position of the GPS antenna through a high-precision GPS receiver may include.

As an embodiment, the step (S704) of deriving ENU coordinates and roll and pitch values using the device includes measuring roll and pitch values from a sensor included in the device and deriving GPS coordinates as ENU coordinates. may include steps. In this case, the deriving step may be performed by a signal processing device, which is the signal processing device shown in FIG. 3 GPS the position of the second device located on the right side based on the position of the second device located on the left side of the equipment. It may include the step of converting from coordinates to ENU (East-North-Up, Northeast-East) coordinates.

As an embodiment, first, a roll value and a pitch value of the equipment may be measured using a sensor. As an example of a sensor used for posture measurement, it is known that the IMU sensor returns an incorrect posture value due to the surrounding magnetic environment. It may not be affected by the magnetic environment. The yaw value can be easily derived by using the pitch and roll values obtained from the IMU sensor and using the GPS receiver to obtain the coordinate values on the left and right sides of the equipment that you want to measure posture.

As an embodiment, the step of deriving the roll, pitch, and yaw values of the equipment using the ENU coordinates and roll and pitch values (S705) is the ENU coordinate value derived using the signal processing device and the measured roll and pitch values As a step of deriving a yaw value using , a value derived from the previous step (S704) may be used.

In the step S705, in order to derive the yaw value, the following relational expressions between ENU coordinates and roll(r), pitch(p), and yaw(y) may be used.

[Equation 1]

Of the variables, only the yaw value is a variable, and the rest are all measurable, so if it is modified in terms of yaw, it can be as follows.

[Equation 2]

Therefore, the yaw (y) value can be derived by using a function for deriving an arctangent value or by using the following equation.

[Equation 3]

When the yaw (y) value is derived from the above equation, the roll, pitch, and yaw values may be output as a result value together with the roll and pitch values obtained from the IMU sensor.

Therefore, through the precision posture measurement method using the precision posture measurement system according to an embodiment of the present invention, it may not be affected by metals or magnets existing around it, and it is possible to reduce the GPS error by increasing the distance of the GPS positioning point. It can measure the posture of precise equipment.

Various embodiments of the present disclosure do not list all possible combinations, but are intended to describe representative aspects of the present disclosure, and the details described in various embodiments may be applied independently or in combination of two or more.

In addition, various embodiments of the present disclosure may be implemented by hardware, firmware, software, or a combination thereof. For implementation by hardware, one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose It may be implemented by a processor (general processor), a controller, a microcontroller, a microprocessor, and the like. For example, it is self-evident that it can be implemented in the form of a program stored in a non-transitory computer-readable medium that can be used at the end or edge, or in the form of a program stored in a non-transitory computer-readable medium that can be used at the edge or in the cloud. do. In addition, it may be implemented by a combination of various hardware and software.

The scope of the present disclosure includes software or machine-executable instructions (eg, operating system, application, firmware, program, etc.) that cause an operation according to the method of various embodiments to be executed on a device or computer, and such software or and non-transitory computer-readable media in which instructions and the like are stored and executed on a device or computer.

For example, an equipment precision posture measurement system or an equipment precision posture measurement device has already been built, and a first mechanism that can be included in the device and system is already connected to the measurement target equipment, and the device and the system can be included in the device and system. In an environment where it is assumed that the first instrument and the second instrument are already aligned as described above using a laser pointer, the device precision posture measurement program using the sensor according to an embodiment of the present invention is performed by the computer in the device. Performing the positioning of the second instrument included in the step, ENU coordinates and rolls, deriving the pitch values, ENU coordinates and rolls, using the pitch values to perform the steps of deriving the roll, pitch, yaw values Non- It may be a program stored in a temporary computer-readable medium.

In this case, the step of performing the positioning of the second device may include deriving the GPS coordinates of the second device on the right side based on the second device on the left side of the equipment.

In this case, the components included in the first and second devices, the GPS receiver, the GPS antenna, and the IMU sensor may be linked with a computer to exchange information.

In addition, it is also possible to be implemented as a combination of one or more programs performed by dividing the above steps.

In addition, it is also possible that the above step is performed in a server or a terminal. That is, all steps are performed in the server, and only roll, pitch, and yaw values may be obtained as result values in the terminal, and some steps may be implemented in the server and some steps may be implemented in the terminal.

The present invention described above can be various substitutions, modifications and changes within the scope without departing from the technical spirit of the present invention for those of ordinary skill in the art to which the present invention pertains, so the scope of the present invention is not limited to the above. It is not limited by one embodiment and the accompanying drawings.

301: signal processing device
302: GPS receiver
303: GPS antenna
304: second mechanism
305: laser receiver
306: laser pointer
307: sensor
308: support structure
309: first mechanism
310: equipment for measuring posture
311: second mechanism

Claims (20)

In the precision posture measurement device of the equipment,
a GPS receiver for deriving the location value of the device as GPS coordinates;
a first mechanism mounted on the equipment for precision posture measurement;
a second mechanism that is aligned by the first mechanism and whose position is measured;
It is attached to the equipment and includes a sensor to measure the roll and pitch values of the equipment,
The first device is
a laser pointer for aligning the second mechanism;
an equipment connection unit for stably connecting to the equipment;
A precision posture measurement device comprising a.
According to claim 1,
The second mechanism,
a laser receiving unit for aligning a second mechanism in the center of a position at which the laser pointer of the first mechanism points;
a GPS antenna interworking with the GPS receiver and used to derive the GPS coordinates;
A precision posture measurement device comprising a.
3. The method of claim 2,
The second mechanism,
Precision posture measuring device, characterized in that aligned one by one on the left side and the right side of the equipment.
4. The method of claim 3,
A precision posture measuring device further comprising a signal processing device for converting the GPS coordinates into East-North-Up (ENU) coordinates to derive roll (r), pitch (p), and yaw (y) values.
5. The method of claim 4,
The ENU coordinates are,
A precision posture measuring device comprising converting the GPS coordinates of the second device on the right based on the GPS coordinates of the second device on the left of the equipment.
6. The method of claim 5,
The signal processing device,
Equation using the ENU coordinates

A precision posture measurement device, characterized in that deriving cos(y), sin(y) values through .
7. The method of claim 6,
The signal processing device,
Equation using the above cos(y) and sin(y)

Precision posture measurement device, characterized in that deriving the yaw (y) value through.
According to claim 1,
The sensor is a precision posture measuring device, characterized in that the sensor including an acceleration sensor, an angular velocity sensor, a geomagnetic sensor.
In the precision posture measurement method of the equipment by the precision posture measuring device,
deriving coordinates by performing positioning of the device connected to the equipment;
deriving the roll (r) and pitch (p) values of the equipment using a sensor attached to the equipment; and
Using the coordinates and the roll and pitch values, a method of measuring a precision posture of equipment comprising deriving roll (r), pitch (p), and yaw (y) values.
10. The method of claim 9,
The device is a precision posture measurement method, characterized in that the posture precision estimation device of claims 1 to 8.
11. The method of claim 10,
The step of deriving the coordinates is
A precision posture measurement method of equipment comprising deriving ENU coordinates from GPS coordinates obtained using a GPS receiver included in the device.
12. The method of claim 11,
The step of deriving the coordinates is
A precision posture measurement method of equipment, characterized in that by using the device, the position of the second instrument on the right is expressed in ENU coordinates based on the position measured on the second instrument on the left side of the equipment.
11. The method of claim 10,
The device is
Using the laser pointer included in the device, the center of the aiming point of the second device included in the device is pointed,
Precision posture measurement method of equipment, characterized in that the second mechanism is aligned on the left and right sides of the equipment.
11. The method of claim 10,
The sensor attached to the equipment is a precision posture measurement method of equipment, characterized in that the sensor includes an acceleration sensor, an angular velocity sensor and a geomagnetic sensor.
10. The method of claim 9,
The step of deriving the roll (r), pitch (p), and yaw (y) values is the equation

A precision posture measurement method of equipment comprising the step of deriving cos(y) and sin(y) through.
16. The method of claim 15,
The step of deriving the roll (r), pitch (p), and yaw (y) values is,
Equation using the cos(y) and sin(y)

Precision posture measurement method of equipment, characterized in that deriving the yaw (y) value through.
In the precision posture measurement system of the equipment,
a precision posture measuring device including a sensor for deriving the precise posture of the equipment as GPS coordinates and outputting roll and pitch values;
a signal processing device for deriving ENU coordinates using the GPS coordinates derived through the device, and for deriving roll, pitch, and yaw values;
One or more support structures for supporting the precision posture measuring device; precision posture measuring system comprising a.
18. The method of claim 17,
The precision posture measuring device is a precision posture measuring system, characterized in that the device of claims 1 to 8.
19. The method of claim 18,
The signal processing device
Precise posture measurement system, characterized in that the position of the second instrument on the right is represented by ENU coordinates based on the position measured by the second instrument on the left side of the equipment, included in the precision posture measuring device.
18. The method of claim 17,
The sensor is a precision posture measurement system, characterized in that it comprises an acceleration sensor, an angular velocity sensor, a geomagnetic sensor.

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