TWI664393B - Mobile mapping system and positioning terminal device - Google Patents

Abstract

The mobile mapping system (101) mounted on the measurement vehicle (100) includes a positioning terminal device (200), a communication device (300), a display device (400), a measurement unit (110) constituting the measurement device, and a mileage Table (120). The communication device (300) receives the positioning reinforcement data from the correction information center device (710) that transmits the positioning reinforcement data. The positioning terminal device (200) is obtained by the communication device (300), and the positioning satellite (601) receives the positioning signal, and at least uses the positioning signal to detect the position. In addition, if the positioning terminal device (200) is in a positioning state in which a position is detected using a positioning signal and positioning reinforcing data, the display device (400) displays the positioning state.

Description

   Mobile mapping system and positioning terminal device   

The present invention relates to a mobile mapping system and a positioning terminal device used in the mobile mapping system.

In the conventional MMS (Mobile Mapping System, mobile mapping system), the positioning reinforcement data based on the electronic reference point data is not obtained. Therefore, whether or not the positioning solution is obtained by the GPS receiver is based on the prediction from the number of effective satellites. In addition, an error prediction of a positioning position is performed based on the prediction of a positioning solution that should be obtained (for example, Patent Document 1).

The conventional MMS has the following problems because it is a prediction of a known positioning solution.

(1) To improve the reliability, the MMS measurement vehicle equipped with MMS is set to have a long standstill time. For example, if the initial inactivity is set to 6 minutes and the intermediate inactivity is set to 2 minutes, there may be useless inactivity time.

(2) Even if the standstill time is set to be long, there is a case where the positioning accuracy is lacking. That is, in the past, the positioning reinforcement data was obtained in the post-processing step, and the positioning reinforcement data and the position information obtained from the MMS measurement vehicle were used to calculate the positioning solution during the positioning operation, but it would not occur during the positioning operation The situation of positioning solution. This system is related to the electronic reference point and ionosphere, which is inevitable in the current system. If the positioning solution cannot be obtained during the positioning operation, the expected position accuracy cannot be obtained, and the situation that the post-processing cannot be performed may occur. In this case, the vehicle was re-measured using MMS, and a significant time loss occurred.

For further details, it is shown below.

<Current MMS Technology>

If it is the conventional MMS technology, the MMS measurement vehicle can be moved to a place where at least 5 satellites can be ensured, and the positioning prediction state derived from the error prediction can be obtained by standing still for 2 minutes.

Here, the “position prediction state” refers to a state that can be regarded as a positioning state.

Next, the "positioning state" refers to a state in which a positioning solution is obtained during a positioning operation.

In the measurement of MMS, there are procedures such as azimuth verification, initial stationary, initialized walking, and ending walking, etc. In the conventional application, the following items must be implemented.

(a) If it is difficult to measure at a place where more than 5 satellites are available, laboriously seek out satellites.

(b) In order to obtain the positioning prediction status, the MMS measurement vehicle must be stationary for 2 minutes.

(c) If the prediction error exceeds the specified value during measurement (much more than it is going to be exceeded), the MMS measurement vehicle must move to a place where more than 5 satellites can be secured, and stand still until the position prediction state is obtained.

(d) Although the error is estimated during the measurement, it is only an estimation and is not a correct error. Therefore, there may be cases where the error after post-processing is greater than the estimated error and remeasurement must be performed.

(e) If the satellites captured by the MMS measurement vehicle during the measurement are not consistent with the satellites captured by the electronic reference point used in the post-processing, even if the positioning is predicted during measurement, the No positioning status was obtained.

That is, in the conventional measurement for measuring a vehicle by MMS, the position-reinforcing data is not used in the position detection. Therefore, in the measurement performed by the MMS to measure the vehicle, it is not possible to indicate that the vehicle is in a positioning state in reality, but only to indicate the positioning prediction state.

[Previous Technical Literature]

[Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2009-300355

An object of the present invention is to provide a system capable of indicating that a vehicle is actually positioned in an MMS measurement vehicle.

The mobile surveying and mapping system of the present invention includes: a communication device, a display device, a positioning terminal device, and a measurement device, and is mounted on the vehicle's mobile surveying and mapping system. The communication device is sent by the positioning reinforcement data that transmits the positioning reinforcement data. The device receives the positioning reinforcement data. The positioning terminal device obtains the positioning reinforcement data from the communication device, and the positioning satellite that receives the positioning signal receives the positioning signal. At least the positioning signal is used to detect the position. When the signal and the positioning reinforcing data are used to detect the positioning state of the position, the display device displays that the positioning state is in the positioning state.

According to the present invention, it is possible to provide a system capable of indicating that the MMS measurement vehicle is actually in a positioning state.

In addition, since it can be confirmed in the vehicle that it is actually in a positioning state, it is not necessary to spend more than the waiting time required to obtain a positioning solution, and the measurement efficiency is improved. In addition, since it can be confirmed in the vehicle that it is actually in a positioning state, there is no prediction error like a positioning solution that cannot be obtained, so there is no measurement failure, and it can prevent re-measurement and other secondary labor.

100‧‧‧Measurement vehicle

101‧‧‧ Mobile Mapping System

110‧‧‧Measurement unit

111A ~ 111F‧‧‧Camera

112A ~ 112D‧‧‧Laser scanner

113A ~ 113C‧‧‧GPS Antenna

114‧‧‧IMU

120‧‧‧Odometer

200‧‧‧ positioning terminal device

210‧‧‧ processor

211‧‧‧ Positioning and Reinforcement Data Acquisition Department

212‧‧‧Positioning Department

213‧‧‧Positioning state detection section

214‧‧‧Satellite Decision Department

220‧‧‧Master memory device

230‧‧‧ auxiliary memory device

240‧‧‧I / O interface device

250‧‧‧ satellite signal receiving device

260‧‧‧RTK positioning results

300‧‧‧ communication device

400‧‧‧ display device

401‧‧‧Fix indicator

402‧‧‧ through chart

403‧‧‧black circle

404‧‧‧White circle

500‧‧‧3 dimension measurement data storage device

510‧‧‧3 dimension measurement data

601‧‧‧ positioning satellite

602‧‧‧quasi-zenith satellite

700‧‧‧ Correction Information Center

710‧‧‧ Correction Information Center Device

800‧‧‧ post-processing device

810‧‧‧ post-processing operation unit

820‧‧‧Output data

900‧‧‧ internet

1000‧‧‧ measurement system

FIG. 1 is a diagram of the first embodiment and shows a configuration of the measurement system 1000.

FIG. 2 is a diagram of the first embodiment and shows a device mounted on the measurement vehicle 100.

FIG. 3 is a view showing the hardware configuration of the positioning terminal device 200 according to the first embodiment.

FIG. 4 is a flowchart of the first embodiment and is a flowchart showing the operation of the measurement system 1000.

FIG. 5 is a diagram of the first embodiment, showing a display state of a Fix indicator 401 and a sky plot 402 on the display device 400.

FIG. 6 is a diagram of the first embodiment, and is a diagram showing a state in which the positioning state information is reflected in the three-dimensional measurement data in a pattern.

Fig. 7 is a diagram of the first embodiment and shows a modification.

Hereinafter, embodiments of the present invention will be described using drawings. In each figure, the same or equivalent parts are denoted by the same symbols. In the description of the embodiment, the same or corresponding parts are appropriately omitted or simplified.

Embodiment 1

*** Description of composition ***

First, define the positioning status.

"Positioning state" has also been described in the prior art, and refers to a state in which a positioning solution is obtained in a positioning operation. According to other definitions, the "positioning state" refers to the state of determining the wave number of each signal for positioning satellites with a predetermined number or more.

The measurement system 1000 according to the first embodiment will be described with reference to FIGS. 1 to 7. The main characteristics of the measurement system 1000 are as follows. In the past, MMS measurement vehicles did not use positioning reinforcement data during position detection. Therefore, in the MMS measurement vehicle, it is not possible to indicate that the vehicle is in the positioning state in reality, but only to predict that it should be in the positioning state. On the other hand, in the measurement system 1000 of this embodiment, the communication device 300 or the satellite signal receiving device 150 mounted on the vehicle receives the positioning reinforcement data, and the positioning terminal device 200 detects the position using the positioning reinforcement data. Therefore, in the MMS measurement vehicle, the display device 400 can display the positioning state in reality. That is, in the measurement system 1000, as will be described later, various devices mounted on the MMS measurement vehicle communicate with the correction information center device 710 or the quasi-zenith satellite 602. In the MMS measurement vehicle, positioning and reinforcement data can be obtained. And the positioning solution is implemented. The result is a positioning solution that is not predicted as a result. Therefore, in terms of the effect, when the MMS measurement vehicle system can start the next walking at the time of the positioning state, the situation that the rest time is unnecessarily wasted will disappear.

FIG. 1 shows the measurement system 1000. The measurement system 1000 includes a measurement vehicle 100 equipped with an MMS, a correction information center 700, and a post-processing device 800. The measurement vehicle 100 is an MMS measurement vehicle. The measurement vehicle 100 includes a positioning terminal device 200, a communication device 300, and the like. The communication device 300 can communicate with the correction information center device 710 of the correction information center 700 through the Internet 900. The communication device 300 receives the positioning reinforcement data from the correction information center device 710, and outputs the positioning reinforcement data to the positioning terminal device 200. The correction information center 700 includes a correction information center device 710.

The positioning terminal device 200 receives a positioning signal transmitted by a positioning satellite 601 and detects a position. In this embodiment, the positioning terminal device 200 performs positioning using RTK (Real Time Kinematic, if real-time positioning can be used). The RTK positioning results measured by the measurement vehicle 100 and the three-dimensional measurement data are post-processed by the post-processing arithmetic unit 810 of the post-processing device 800, and the results of the post-processing are output as output data 820.

FIG. 2 shows a device mounted on the measurement vehicle 100. The MMS system mounted on the measurement vehicle 100 includes a measurement unit 110, an odometer 120, a positioning terminal device 200, a communication device 300, a display device 400, and a three-dimensional measurement data storage device 500 that stores measured three-dimensional measurement data. The measurement unit 110 includes cameras 111A to 111F, laser scanners 112A to 112D, GPS antennas 113A to 113C, and IMU (Aeronautical Inertial Unit) 114. The mobile mapping system 101 includes a communication device 300, a display device 400, a positioning terminal device 200, a measurement unit 110 as a measurement device, and an odometer 120. The mobile mapping system 101 is mounted on a measurement vehicle 100.

FIG. 3 shows a hardware configuration of the positioning terminal device 200. The positioning terminal device 200 is a computer. The positioning terminal device 200 includes a processor 210, a main memory device 220, an auxiliary memory device 230, an input / output interface device 240, and a satellite signal receiving device 250 as hardware. The processor 210 is connected to other hardware through a signal line, and controls the other hardware.

The processor 210 is an integrated circuit (Integrated Circuit) that performs arithmetic processing. The processor 210 is a central processing unit (CPU), a digital signal processor (DSP), or a graphics processing unit (GPU) as specific examples.

The main memory device 220 is a readable and writable volatile memory device. Taking the specific examples of the main memory device 220 as SRAM (Static Random Access Memory, static random access memory), and DRAM (Dynamic Random Access Memory, dynamic random access memory).

The auxiliary memory device 230 is a non-volatile memory device that can be read and written. The auxiliary memory device 230 stores programs or other data for realizing the functions of the positioning terminal device 200. For example, the auxiliary memory device 230 is a hard disk drive (Hard Disk Drive). In addition, the auxiliary storage device 230 may be a storage device using a removable storage medium such as an optical disc, a CD, a Blu-ray (registered trademark) disc, or a DVD (Digital Versatile Disk).

The input / output interface device 240 is an interface device for the processor 210 to communicate with the satellite signal receiving device 250, the communication device 300, the display device 400, and the three-dimensional measurement data storage device 500.

The satellite signal receiving device 250 receives the positioning signal transmitted by the positioning satellite 601, and sends the positioning signal to the processor 210 through the input / output interface device 240.

The positioning terminal device 200 includes a positioning reinforcing data acquisition unit 211, a positioning unit 212, a positioning state detection unit 213, and a satellite determination unit 214 as functional elements. The functions of the positioning reinforcing data acquisition unit 211, the positioning unit 212, the positioning state detection unit 213, and the satellite determination unit 214 are realized by a program. The auxiliary memory device 230 stores programs for realizing the functions of the positioning reinforcing data acquisition unit 211, the positioning unit 212, the positioning state detection unit 213, and the satellite determination unit 214. The program is read and executed by the processor 210. Thereby, the functions of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the positioning state detection unit 213, and the satellite determination unit 214 are realized.

Among them, the program that realizes the functions of the positioning-reinforcing data acquisition section 211, the positioning section 212, the positioning state detection section 213, and the satellite determination section 214 can also be stored in a computer-readable recording medium and provided as a program product.

In FIG. 3, only one processor 210 is shown. However, the positioning terminal device 200 may include a plurality of processors instead of the processor 210. These plural processors share the execution of the programs of the positioning reinforcement data acquisition unit 211, the positioning unit 212, the positioning state detection unit 213, and the satellite determination unit 214. Each processor is the same as the processor 210 and is an IC that performs arithmetic processing.

Among them, the processor 210 and a plurality of processors replacing the processor 210 are also referred to as processing circuitry.

*** Description of action ***

FIG. 4 is a flowchart showing the operation of the measurement system 1000. The operation of the measurement system 1000 will be described with reference to FIG. 4.

In step S11, the communication device 300 communicates with the correction information center device 710 to obtain the positioning and reinforcement data of the electronic reference point i in real time. The positioning unit 212 receives the positioning signal from a positioning satellite 601 that transmits the positioning signal, and at least uses the positioning signal to detect the position. At this time, when the communication device 300 obtains the positioning reinforcement data, first, the positioning terminal device 200 obtains the approximate position calculated by the positioning signal transmitted by the positioning satellite 601 without using the positioning reinforcement data, and transmits it to Correct the information center device 710. The correction information center device 710 transmits, to the communication device 300, positioning enhancement data on the electronic reference point i closer to the approximate position among the plurality of electronic reference points.

In step S12, the communication device 300 outputs the positioning reinforcement data to the positioning terminal device 200.

In step S13, the positioning reinforcement data acquisition unit 211 of the positioning terminal device 200 acquires the positioning reinforcement data transmitted by the communication device 300.

In step S14, the positioning unit 212 performs positioning using the positioning reinforcement data and the positioning signal.

In step S15, the positioning state detection unit 213 immediately obtains the RTK positioning result calculated by the positioning unit 212, that is, the positioning solution.

The positioning state detection unit 213 performs the following (1) to (3) in parallel.

(1) Determine whether it is in the positioning state.

(2) Whether the display device 400 is in the positioning state is displayed.

(3) The information indicating whether the positioning state is reflected in the three-dimensional measurement data.

In the above (2), if the positioning state detection unit 213 is in the positioning state where the positioning unit 212 detects the position using the positioning reinforcement data and the positioning signal, the display device 400 mounted on the measurement vehicle 100 displays the positioning state.

FIG. 5 shows the display state of the Fix indicator 401 and the through-air map 402 of the display device 400. As shown in FIG. 5, the Fix indicator 401 of the display device 400 displays the positioning state.

In the above (3), the positioning state detection unit 213 reflects the positioning state information indicating the positioning state by the three-dimensional measurement data obtained by the measurement by the measurement device (the measuring unit 110 and the odometer 120). The three-dimensional measurement data is stored in the three-dimensional measurement data storage device 500.

Fig. 6 is a diagram showing a state in which the positioning state information is reflected in the three-dimensional measurement data in a pattern. “Fix” and “NON-Fix” in FIG. 6 are positioning status information, “Fix” indicates positioning status, and “NON-Fix” indicates non-positioning status.

"Not in positioning" means that no positioning solution has been obtained.

In step S16, the satellite determination unit 214 analyzes the obtained positioning and reinforcement data on the electronic reference point i.

In addition, the satellite determination unit 214 determines the positioning satellite 601 captured by the electronic reference point i, and the positioning terminal device 200 now determines the positioning satellite 601 captured by the received positioning signal.

Next, the satellite determination unit 214 displays both positioning satellites 601 on the display device 400. As shown in FIG. 5, a radiograph 402 showing the captured positioning satellites is displayed. As shown above, the satellite determination unit 214 determines the positioning satellite 601 captured by the positioning reinforcement data for generating the positioning reinforcement data. In addition, the satellite determination unit 214 is a positioning signal received by the positioning unit 212, and determines the positioning satellite 601 captured for position detection.

The satellite determination unit 214 is among the plurality of positioning satellites 601 for generating positioning-reinforcing data, and displays a position different from the positioning satellite 601 corresponding to the positioning satellite 601 for detecting the position. Inconsistent positioning satellite 601.

In FIG. 5, a black circle 403 indicates a positioning satellite 601 regarding a detection position, and a white circle 404 indicates a non-conforming positioning satellite 601.

In step S17, the positioning-reinforcing data acquisition unit 211 transmits its own position calculated by the positioning unit 212 to the correction information center device 710 at a certain interval through the communication device 300. The correction information center device 710 transmits the positioning enhancement data of the electronic reference point i closest to the place where the correction information center device 710 is located to the communication device 300. The communication device 300 is a device that receives the positioning reinforcement data by the positioning reinforcement data transmitting device that transmits the positioning reinforcement data, that is, the correction information center device 710, and is a device loaded on the measurement vehicle 100. The positioning reinforcement data acquisition unit 211 obtains the positioning reinforcement data through the communication device 300, and transmits the position measured by the positioning unit 212 to the correction information center device 710 through the communication device 300. Thereby, the positioning reinforcement data acquisition unit 211 obtains the positioning reinforcement data suitable for the transmitted position from the correction information center device 710 through the communication device 300.

If the processing according to FIG. 4 has ended, the three-dimensional measurement data 510 and the RTK positioning result 260 are sent to the post-processing device 800, and processed in the post-processing arithmetic unit 810, and the processing result is output as the output data 820.

*** Effect of Embodiment 1 ***

The current MMS is a system based on post-processing of measurement data. If it is not post-processing, the final result cannot be obtained. Therefore, in the MMS measurement based on the current status of the positioning prediction state, the 3-dimensional measurement is performed without obtaining the required position accuracy, which may cause re-measurement after post-processing. However, in the first embodiment, a positioning terminal device 200 and a communication device 300 are mounted on the measurement vehicle 100 of the MMS, and the communication device 300 obtains positioning reinforcement data from the correction information center device 710. Therefore, in the first embodiment, the positioning terminal device 200 can obtain the RTK positioning result in real time by the positioning reinforcing data and the positioning signal. Therefore, it can be presented whether the measurement vehicle 100 is in a realistic positioning state. Thereby, it is possible to solve a problem such as a problem that the positioning state is not obtained after the post-processing, or a laborious problem such as a 2 minute standstill required to obtain the positioning prediction state.

<Modifications>

Fig. 7 is a diagram showing a modification of the first embodiment. Fig. 7 shows a configuration in which positioning data is distributed by the quasi-zenith satellite 602 compared to Fig. 1. Fig. 7 shows four positioning satellites 601 and one quasi-zenith satellite 602. The quasi-zenith satellite 602 transmits positioning reinforcement data and positioning signals. The quasi-zenith satellite 602 is a positioning reinforcement data transmitting device for transmitting positioning reinforcement data. The difference from Fig. 1 is that Fig. 7 does not require the communication device 300 and the correction information center 700. The quasi-zenith satellite 602 sequentially transmits positioning reinforcement data of each block that divides the Japanese region into a plurality of blocks. The operation of this <modified example> is substantially the same as that in FIG. 4, but step S11 is different, and step S17 is not required. That is, the positioning terminal device 200 selects positioning reinforcement data close to the approximate position from among the positioning reinforcement data of each block transmitted from the quasi-zenith satellite 602 based on the approximate position. Therefore, step S17 is not required. Among them, in addition to the positioning signal, the satellite signal receiving device 250 receives positioning reinforcing data from the quasi-zenith satellite 602, and transmits it to the processor 210 through the input / output interface device 240.

According to this <Modification>, in addition to the effects of the first embodiment described above, there is an effect that communication with the correction information center device 710 is not required.

Claims (6)

A mobile surveying and mapping system (101), which is a mobile surveying and mapping system mounted on a vehicle, includes: a communication device, which is a device for transmitting positioning and reinforcing data that transmits positioning and reinforcing data, and receives the aforementioned positioning and reinforcing data; The terminal device (200) performs positioning by using the aforementioned positioning reinforcement data and positioning signals transmitted by positioning satellites to determine whether it is in a positioning state where a positioning solution can be obtained; and a display device (400) displays whether it is in the aforementioned positioning state. For example, the mobile surveying and mapping system according to item 1 of the patent application range, wherein the aforementioned mobile surveying and mapping system (101) further includes a measuring device (110, 120), and the aforementioned positioning terminal device (200) is measurement data measured by the aforementioned measuring device Reflects positioning status information indicating the aforementioned positioning status. A positioning terminal device includes a positioning terminal device (211) included in a positioning terminal device (200) included in a mobile surveying and mapping system mounted on a vehicle, which acquires positioning reinforcement data, and a positioning unit (212), which is composed of The positioning satellite transmitting the positioning signal receives the positioning signal, and performs positioning using the positioning reinforcing data and the positioning signal; the positioning state detection unit (213) determines whether the positioning solution is in a positioning state where a positioning solution can be obtained, and is mounted on the display device of the vehicle Shows whether it is in the aforementioned positioning state. For example, the positioning terminal device of the third scope of the application for a patent, wherein the positioning terminal device further includes a satellite determination unit (214), and determines the aforementioned positioning satellite captured by the aforementioned positioning reinforcement data for generating the aforementioned positioning reinforcement data, The positioning satellites received by the positioning unit determine the positioning satellites captured by the previous positioning unit to detect the position. Among the positioning satellites for generating the positioning reinforcement data, the positioning satellites are different from those for detecting the positioning satellites. In the aspect of the positioning satellite that matches the positioning satellite at the position, the display device displays a positioning satellite that does not match the positioning satellite that detects the position. For example, the positioning terminal device of the scope of application for the third or fourth item of patent application, wherein the above-mentioned positioning reinforcement data acquisition unit is a device that receives the positioning reinforcement data through a positioning reinforcement data transmitting device that transmits the positioning reinforcement data and is loaded on the vehicle. The device, which is the communication device, obtains the positioning reinforcement data, and transmits the position measured by the positioning unit to the positioning reinforcement data transmission device through the communication device, thereby transmitting the positioning reinforcement data transmission device through The communication device obtains the positioning reinforcing data suitable for the transmitted position. For example, the positioning terminal device of the scope of application for the third or fourth item of patent application, wherein the aforementioned positioning reinforcement data acquisition unit is a device that receives the positioning reinforcement data through a quasi-zenith satellite that transmits the positioning reinforcement data, and the device loaded on the vehicle is also That is, the communication device obtains the aforementioned positioning reinforcement data.