KR100456041B1 - Equipment for Collecting Global Positioning Information - Google Patents

Abstract

The present invention relates to a device for collecting satellite positioning environmental information, and more particularly, by collecting various information related to data reception obstacles, satellite trajectory information, and position measurement, and writing them in the omnidirectional image collected by the fisheye lens. The present invention relates to an apparatus for collecting satellite positioning environmental information that can collectively collect all information related to satellite positioning environmental information in a single image data.

The apparatus for collecting satellite positioning environmental information according to the present invention includes a camera for photographing an omnidirectional field of view through a fisheye lens, a GPS receiver for collecting observation positions, location information accuracy, and observation time from a plurality of GPS satellites, and an omnidirectional photograph taken with the camera. An electronic compass, a keypad, a satellite orbit information input port for recognizing and detecting azimuth information, and a microprocessor for writing information collected from the above devices and calculated satellite trajectories in the omnidirectional image taken by a camera.

Description

Equipment for collecting satellite positioning environmental information {Equipment for Collecting Global Positioning Information}

The present invention relates to an apparatus for collecting satellite positioning environmental information, and more particularly, by collecting various types of information related to data reception obstacles, satellite trajectory information, and position measurement, and writing them in the omnidirectional image collected by the fisheye lens. The present invention relates to an apparatus for collecting satellite positioning environmental information that can collectively collect all information related to satellite positioning environmental information in a single image data.

GPS satellite survey is a survey that receives radio waves from GPS satellites located at high altitudes of over 20,000 km and analyzes various signals included in radio waves to calculate precise relative distances between receiving points. Receive.

Receiving the precision positioning GPS data is received by receiving radio waves from GPS satellites using a dedicated antenna and a receiver at two different points in the same time zone. If radio waves from four or more identical satellites are received by two receivers located at different points in the same time zone, data is prepared to calculate the distance between two reception points through data integration. We will process this data using. The received data is processed through dedicated software, which requires information on the data reception environment at the time of positioning. The result of processing the satellite reception data is evaluated by statistical precision such as root mean square error (RMS) or by verifying whether the geometric conditions between the calculated relative distances are satisfied. If the above evaluation results are good, this is not a problem, but if not, there is a need to delete and reprocess some of the received satellite data. In this process, it is necessary to make a decision about which part of data received from a satellite should be deleted. In this case, sufficient information on the data reception environment is necessary for accurate determination.

Until now, for the collection of information, a sketch of the information receiving environment was sketched by hand using a compass and the naked eye at the data receiving site, and the satellite trajectory information supported by the data processing software was used. The data processor simultaneously checks and compares the two pieces of information collected in this way, using satellite methods such as deleting satellite data received along relatively high obstruction paths and data received from relatively low altitude satellites. Can be reprocessed.

However, this method may cause problems in the reliability of the sketched information in the field, may cause the observer to enter an incorrect orientation, and the accuracy of the sketch result is greatly reduced because it depends on the observer's eyes. There is this. In addition, in order to increase the value as a decision data for accurate data editing, the satellite trajectory information and the field sketch results must be superimposed, and the work such as scanning the sketch data and synthesizing the trajectory information through image processing is quite significant. It is cumbersome and requires a lot of time, so it is rarely utilized.

Therefore, there is an urgent need for a technique for comprehensively implementing radio wave reception obstacles in which accurate orientations are written, satellite trajectory diagrams showing the trajectories of satellite movements in the sky, and various other information related to position measurement.

The present invention has been made to solve the problems of the prior art, the main object of the present invention is to collect a variety of information related to data reception obstacle maps, satellite trajectory information and other position measurements and collected by the fisheye lens The present invention provides a device for collecting satellite positioning environment information that can collectively collect all information related to satellite positioning environment information in a single image data.

Figure 1 shows the configuration of the apparatus for collecting satellite positioning environmental information using the fisheye lens of the present invention.

FIG. 2 shows the external configuration of FIG. 1.

3 shows a GGA message and an RMC message used in the present invention.

4 shows image information produced by applying the apparatus for collecting satellite positioning environmental information using a fisheye lens according to the present invention.

Figure 5 shows the installation of the apparatus for collecting satellite positioning environmental information using a fisheye lens according to the present invention.

In order to achieve the above object, the present invention (a) a camera for photographing the omnidirectional image through the fisheye lens; (b) a GPS receiver for collecting information related to observation position, location information precision, and observation time from a plurality of GPS satellites; (c) an electronic compass for recognizing and detecting orientation information of the omnidirectional photograph taken by the camera; (d) a keypad for inputting the total reception time and various additional information of the GPS receiver; (e) an orbital information input port for receiving almanac required for calculating the orbit of a GPS satellite from the outside; And (f) calculating the trajectory of the satellite using the satellite orbit information, observation time information, and azimuth information input from each device, and evaluating the calculated trajectory, observation time information, azimuth information, measurement position information, and precision of the satellite. It consists of a microprocessor that fills in the omnidirectional image taken by the camera with satellite positioning environmental information, including the index.

The microprocessor provides an apparatus for collecting satellite positioning environmental information, which has a function of acquiring each GPS satellite trajectory through the following steps:

(i) obtaining an eccentric outlier value E (t) by using Equation 1 below using the mean outlier value M and the eccentricity ratio e;

[Equation 1]

Here, the value of time t is calculated by comparing the generation time of the input inverse data with the observation time;

(ii) changes in accordance with the position vector (r) and time on the satellite orbit by the obtained pyeongsim over to using the value of equation (2) vector ( Obtaining;

[Equation 2]

here, to be;

(iii) between the meridian passing through the obtained to a position vector on the satellite orbit converted into coordinates of the celestial sphere reference coordinate system of the center of the earth by the following formula 3 (R) one after, the coordinates of the celestial sphere reference coordinate system the Greenwich meridian and the vernal equinox Converting the coordinates of the georeferenced coordinate system ( R ') by applying an angle of; And

[Equation 3]

Where R ₃ { Θ } is the angle between the Greenwich meridian and the meridian passing through the vernal equinox;

(iv) the position vector ( r ) on the satellite orbit is converted into a vector of one row and three columns by using the existing ( e ¹ , e ² ) component and adding 0 as the value of the ellipsoidal soft component. Applying a rotation transformation equation of Equation 4 to obtain a satellite trajectory ρ based on the earth center coordinate system;

[Equation 4]

Here, the trajectory ( ρ ) of the satellite based on the Earth's center coordinate system is a coordinate in the form of a three-dimensional crustal coordinate system.

The present invention also provides a method for producing an image in which satellite positioning environment information including satellite trajectories, observation time information, azimuth information, measurement position information, and precision evaluation indexes is recorded in an omnidirectional sky image. to provide.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a view showing an embodiment of an apparatus for collecting satellite positioning environmental information using a fisheye lens according to the present invention. As shown in Figure 1, the overall configuration of the satellite positioning environmental information collection device for collecting various positioning environmental information required for processing the data received from the GPS satellite data receiving apparatus of the present invention (a) through the fisheye lens A camera for photographing the omnidirectional field of view; (b) a GPS receiver for collecting information related to observation position, location information precision, and observation time from a plurality of GPS satellites; (c) an electronic compass for recognizing and detecting orientation information of the omnidirectional photograph taken by the camera; (d) a keypad for inputting the total reception time and various additional information of the GPS receiver; (e) an orbital information input port for receiving almanac required for calculating the orbit of a GPS satellite from the outside; And (f) calculating the trajectory of the satellite using the satellite orbit information, observation time information, and orientation information inputted from the above devices, and calculating satellite trajectories of the satellite, observation time information, orientation information, and location information precision. It consists of a microprocessor which writes positioning environmental information into the omnidirectional image photographed with a camera.

Information about a reception environment of GPS satellite data may be collected from a camera, a GPS receiver, an electronic compass, a keypad, and an orbit information input port where the fisheye lens is installed. The types of information collected through the above devices are as follows.

Configuration device Information collected Fisheye lens Omnidirectional photograph (obstacle diagram) GPS receiver Location information, location information degradation rate, observation time Key pad Total reception time, additional information Electronic compass Defense Information of Taken Photo Track information input port ALMANAC Data Required to Compute Satellite Trajectories

The fisheye lens collects photographs from all directions and transmits image information to the CCD of the digital camera. The transmitted image information is stored in a memory through a separate image processing apparatus mounted on a camera, and the image processing apparatus receives azimuth information from an electronic compass and inputs azimuth and altitude information to the processed image.

In addition, a current position and a measurement start time measured by the GPS receiver are input. The method of receiving data from the GPS receiver is as follows. First, the portable GPS exports various information such as location information and time information measured using a common format called NMEA0183. In the present invention, among the various NMEA messages, as shown in FIG. 3, a GGA message and an RMC message are displayed. I use it. In the GGA message, latitude, longitude, and fix quality information are extracted and used, and in the RMC message, measurement time information and receiver state information are extracted and used. In this case, the latitude and longitude coordinates should be converted and used according to the Korean coordinate system. The coordinates are transformed using the 7 parameter transformation method of Equation 5 below, which defines the transformation relationship between the coordinate systems as 7 parameters.

Where the values of the seven parameters used in the conversion are Δx (m) = 115.8, Δy (m) =-474.99, Δz (m) =-674.11, ω (″) = 1.16, φ (″) = -2.31, κ (") =-1.63, and scale (ppm) =-6.43.

The microprocessor writes the position information, the time information, and the total observation time information inputted from the above devices into the omnidirectional image photographed by a camera equipped with a fisheye lens. In addition, the trajectory of the satellite is calculated using the stored satellite orbit information data, the observation start time, the observation end time, and the orientation information, and the satellite trajectory is recorded and recorded in the image. Almanac data is used as the basic data used to calculate the trajectory of GPS satellites, which includes orbital determinants based on Kepler's orbital model. It is calculated and distributed daily.

The Kepler orbit is expressed by factors such as the ascending point ascending angle (??), orbital inclination angle (i), near point declination angle (ω), long track radius (a), eccentricity (e), and elapsed time after passing near point (T ₀ ). The input station data includes information such as satellite number per satellite, satellite state, generation time of almanac, eccentricity (e), orbital inclination angle (i), satellite clock error, and satellite clock second measurement deviation. do.

The process of calculating the trajectory of the satellite by the microprocessor of the present invention using such inverse data is as follows.

First, an eccentric anomaly (E (t)) value is calculated using Equation 1 below using the mean outlier M and the eccentricity.

[Equation 1]

Here, the value of time t is calculated by comparing the generation time of the input almanac with the observation time.

Using the eccentric outliers, the position vector ( r ) on the satellite orbit and the variation vector over time ( ) Is determined by the following equation.

[Equation 2]

here, to be.

R is a planar position vector of the satellite in the orbital plane with respect to the earth's center, and the position vector calculated as described above is converted into coordinates ( R ) that fit the celestial reference coordinate system of the earth's center by Equation 3 below. .

Further, the following conversion equation is further applied to convert the coordinates R of the celestial reference coordinate system to the coordinates R ′ of the earth reference coordinate system. At this time, the angle R ₃ { Θ } is applied between the Greenwich meridian and the meridian passing through the vernal equinox.

[Equation 3]

The position vector ( r ) on the orbital ellipse is converted to a vector of one row and three columns by adding 0 as the value of the ellipsoidal vertical component using the existing ( e ¹ , e ² ) component, and then Calculate the trajectory ( ρ ) of the satellite based on the Earth's center coordinate system by applying the rotation conversion equation of 4. Here, the trajectory of the satellite is a coordinate in the form of a three-dimensional perceptual coordinate system.

[Equation 4]

As described above, the position of the satellite based on the earth reference coordinate system can be calculated using the orbit information input through the inverse data, and the position that changes every hour according to the movement of the satellite can be calculated as the time changes. Comparing the coordinates calculated in this way with the coordinates of the observation point, the altitude and orientation of the satellite can be calculated, and as a result, the trajectory of the satellite from the start time to the end time of the satellite is calculated, and the omnidirectional image taken by the camera is I can write it.

Figure 4 shows the image information produced by applying the apparatus for collecting satellite positioning environmental information using the fisheye lens of the present invention as described above. As shown, the environmental information that can be collected using the apparatus of the present invention includes an accurate orientation, obstacles and satellite trajectories, coordinates, precision evaluation index, observation time, measurement position and the like for all directions of the sky.

That is, the apparatus for collecting satellite positioning environmental information using the fisheye lens according to the present invention captures the arrangement situation of satellite receiving obstacles by shooting in the vertical sky direction at the satellite positioning point, and uses the azimuth and altitude to be used for satellite positioning on the photograph. By displaying the trajectory and the trajectory of the trajectory, it is possible to easily collect the rich and accurate basic data necessary for various decision-making matters generated during the processing of the satellite data.

As described above in detail specific parts of the present invention, those skilled in the art, these specific descriptions are only preferred embodiments, and the scope of the present invention is not limited thereby. It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents.

As described in detail above, the apparatus for collecting satellite positioning environmental information according to the present invention can easily provide comprehensive receiving environment information data including various information related to data receiving obstacle maps, satellite trajectory information, and other position measurement. have. In addition, since the reception environment information data can be displayed on a single image data in a single picture, it is possible to reduce the time required when creating an obstacle map at the work site.

Claims (2)

(a) a camera for photographing the omnidirectional image through the fisheye lens; (b) a GPS receiver for collecting information related to observation position, location information precision, and observation time from a plurality of GPS satellites; (c) an electronic compass for recognizing and detecting orientation information of the omnidirectional photograph taken by the camera; (d) a keypad for inputting the total reception time and various additional information of the GPS receiver; (e) an orbital information input port for receiving almanac required for calculating the orbit of a GPS satellite from the outside; And (f) Calculate the trajectory of the satellite by using the satellite orbit information, observation time information, and orientation information input from each device, and calculate the trajectory, observation time information, orientation information, measurement position information, and precision evaluation index of the satellite. Satellite positioning environmental information, including, consisting of a microprocessor for writing in the omnidirectional image taken by the camera, The microprocessor has a device for collecting satellite positioning environmental information, characterized in that having the function to obtain each GPS satellite trajectory through the following steps: (i) obtaining an eccentric outlier value E (t) by using Equation 1 below using the mean outlier value M and the eccentricity ratio e; [Equation 1] Here, the value of time t is calculated by comparing the generation time of the input inverse data with the observation time; (ii) changes in accordance with the position vector (r) and time on the satellite orbit by the obtained pyeongsim over to using the value of equation (2) vector ( Obtaining; [Equation 2] here, to be; (iii) between the meridian passing through the obtained to a position vector on the satellite orbit converted into coordinates of the celestial sphere reference coordinate system of the center of the earth by the following formula 3 (R) one after, the coordinates of the celestial sphere reference coordinate system the Greenwich meridian and the vernal equinox Converting the coordinates of the georeferenced coordinate system ( R ') by applying an angle of; And [Equation 3] Where R ₃ { Θ } is the angle between the Greenwich meridian and the meridian passing through the vernal equinox; (iv) the position vector ( r ) on the satellite orbit is converted into a vector of one row and three columns by using the existing ( e ¹ , e ² ) component and adding 0 as the value of the ellipsoidal soft component. Applying a rotation transformation equation of Equation 4 to obtain a satellite trajectory ρ based on the earth center coordinate system; [Equation 4] Here, the trajectory ( ρ ) of the satellite based on the Earth's center coordinate system is a coordinate in the form of a three-dimensional crustal coordinate system. A method for producing an image in which satellite positioning environment information, including satellite trajectory, observation time information, azimuth information, measurement position information, and a precision evaluation index, is written in an omnidirectional sky image.