KR102418049B1 - Apparatus and method for detecting position of mobile mapping system - Google Patents

Abstract

A mobile mapping system location measurement apparatus and method are disclosed. The mobile mapping system location measurement device of the present invention is a vehicle that detects and transmits its own location information and outputs a wireless signal; MMS (Mobile Mapping System) mobile body that receives a radio signal from the vehicle while moving on the ground, detects and stores the signal strength of the radio signal, and receives and stores the location information of the vehicle from the vehicle; and a position measuring unit for measuring the position of the MMS mobile body by using the signal strength of the radio signal received by the MMS mobile body and the location information of the aircraft.

Description

Mobile mapping system positioning device and method {APPARATUS AND METHOD FOR DETECTING POSITION OF MOBILE MAPPING SYSTEM

The present invention relates to an apparatus and method for measuring a location of a mobile mapping system, and more particularly, to an apparatus and method for measuring a location of a mobile mapping system in which an aircraft and a mobile mapping system interwork to measure the location of the mobile mapping system.

In general, a mobile mapping system (MMS) is equipped with an image acquisition device such as a high-performance CCD camera, positioning equipment (GPS/INS, Odometer, etc.), laser scanner, and digital camera in the vehicle, and the image acquisition device It is a movement information acquisition system that acquires geographic information data at a certain distance or time interval on the road using

When the map construction data from the mobile mapping system is delivered to the user in real time, the user can easily grasp the location and geographic information status of the mobile station. In addition, map information is provided through the web in a stable, efficient and economical way as a map construction and correction method. Therefore, in order to transmit real-time geographic information using the web, it is necessary to first accurately acquire geographic information using a mobile mapping system capable of real-time location measurement.

In order to acquire geographic information using the mobile mapping system, first of all, the location of the mobile mapping system needs to be accurately measured.

However, in the prior art, it is very difficult to accurately measure the location of the mobile mapping system in an environment in which the GPS reception rate is lowered or incorrect information is received due to high-rise dense areas, street trees, or high sound barriers.

The background technology of the present invention is disclosed in '3D spatial information construction system using MS and multi-directional oblique aerial photography' of Korean Patent Registration No. 10-1720761 (Mar. 22, 2017).

The present invention was devised to improve the above problems, and an object according to an aspect of the present invention is to accurately measure the location of the mobile mapping system using the distance and direction of the MMS with respect to the vehicle and the location information of the vehicle It is to provide a mobile mapping system location measurement device and method.

A mobile mapping system position measuring device according to an aspect of the present invention includes: an aircraft detecting and transmitting its own position information and height, and outputting a wireless signal; MMS (Mobile Mapping System) mobile body for receiving a wireless signal from the vehicle while moving on the ground, detecting and storing the signal strength of the wireless signal, and receiving and storing the location information and height of the vehicle from the vehicle; and a position measuring unit for measuring the position of the MMS mobile body by using the signal strength of the radio signal received by the MMS mobile body and the location information and height of the aircraft.

The vehicle of the present invention includes a GPS receiver for detecting the location information of the vehicle; Short-distance communication transmitter for outputting a wireless signal; a flight unit for tracking the MMS moving object and estimating the height of the vehicle; and transmits the location information of the vehicle detected by the GPS receiver and the height of the vehicle estimated by the flight unit to the MMS mobile unit while following the MMS moving object through the flight unit, and controls the short-distance communication transmitter It characterized in that it comprises an aircraft control unit for transmitting a radio signal to the MMS mobile body.

The flight unit of the present invention includes a camera unit for photographing the MMS mobile body; and a flight driving unit that analyzes the image captured by the camera unit and adjusts the position to follow the MMS moving body according to the analysis result.

The flight driving unit of the present invention is characterized in that it recognizes the MMS movable body in the image taken by the camera unit and controls the flight according to the position of the MMS movable body in the image.

The flight driving unit of the present invention is characterized in that it controls the flight so that the MMS moving body is located in the image taken by the camera unit.

The flight driving unit of the present invention is characterized in that it recognizes the target installed in the MMS moving body in the image taken by the camera unit and controls the flight according to the position of the target in the image.

The flight driving unit of the present invention is characterized in that it controls the flight so that the target is located in the image taken by the camera unit.

The flight driving unit of the present invention is characterized in that it estimates the height of the vehicle according to the scale of the target in the image taken by the camera unit.

The position measuring unit of the present invention detects the distance and direction of the MMS moving object with respect to the vehicle by using the signal strength of the radio signal received by the MMS moving object, and sets the detected distance and direction of the MMS moving object to the vehicle It is characterized in that the position of the MMS mobile body is measured by applying the position information and height of the MMS.

The mobile mapping system location measurement method according to an aspect of the present invention accumulates the location information and height of the vehicle received from the vehicle while the mobile MMS (Mobile Mapping System) moving body moves to the ground, and the signal strength of the wireless signal received from the vehicle. saving; And it characterized in that it comprises the step of measuring the position of the MMS mobile body using the position measurement unit location information and height of the aircraft stored in the MMS mobile body and the signal strength of the radio signal.

The vehicle of the present invention is characterized in that it continuously transmits position information and height to the MMS vehicle while following the MMS vehicle and transmits a radio signal to the MMS vehicle.

The vehicle of the present invention is characterized in that it adjusts the position to follow the MMS moving object according to the analysis result by photographing the MMS moving object and analyzing the captured image.

The flying vehicle of the present invention is characterized in that it recognizes the MMS movable body in the captured image and controls the flight according to the position of the MMS movable body in the image.

The vehicle of the present invention is characterized in that it controls the flight so that the MMS moving object is located in the captured image.

The flying vehicle of the present invention is characterized in that it recognizes the target installed in the MMS mobile body in the captured image and controls the flight according to the location of the target in the image.

The aircraft of the present invention is characterized in that it controls the flight so that the target is located in the captured image.

The vehicle of the present invention is characterized in that it estimates the height of the vehicle according to the scale of the target in the captured image.

The position measuring unit of the present invention detects the distance and direction of the MMS moving object with respect to the vehicle by using the signal strength of the radio signal received by the MMS moving object, and sets the detected distance and direction of the MMS moving object to the vehicle It is characterized in that the position of the MMS mobile body is measured by applying the position information and height of the MMS.

An apparatus and method for measuring a location of a mobile mapping system according to an aspect of the present invention accurately measure the location of the mobile mapping system using the distance and direction of the MMS with respect to the vehicle and the location information of the vehicle.

An apparatus and method for measuring a location of a mobile mapping system according to another aspect of the present invention enables a more precise and accurate map to be constructed by accurately measuring the location of a mobile mapping system in a shaded area.

1 is a conceptual diagram of an operation of a mobile mapping system location measurement apparatus according to an embodiment of the present invention.
2 is a block diagram of an aircraft according to an embodiment of the present invention.
3 is a view showing the position of the target in the image according to the position of the aircraft according to an embodiment of the present invention.
4 is a block diagram of an MMS mobile body according to an embodiment of the present invention.
5 is a diagram conceptually illustrating the operation of an air vehicle and an MMS mobile body according to an embodiment of the present invention.
6 is a block diagram of a position measuring unit according to an embodiment of the present invention.
7 is a flowchart illustrating a mobile mapping system location measurement method according to an embodiment of the present invention.

Hereinafter, an apparatus and method for measuring a location of a mobile mapping system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a conceptual diagram of an operation of a mobile mapping system location measuring apparatus according to an embodiment of the present invention.

Referring to FIG. 1 , the mobile mapping system position measuring device according to an embodiment of the present invention includes an aircraft 10 , a mobile mapping system (MMS) moving body 20 , and a position measuring unit 30 .

The aircraft 10 acquires its own location information while flying along the MMS mobile 20 on the ground, transmits it to the MMS mobile 20 on the ground, and transmits a radio signal to the MMS mobile 20 .

A drone may be employed as the flying vehicle 10, and in addition, it is not particularly limited as long as it can transmit location information and transmit a wireless signal from the air to the MMS mobile 20 on the ground.

The MMS mobile body 20 measures its location while moving on the ground, and acquires geographic information data at a certain distance or at regular time intervals using an image acquisition device (not shown). In addition, the MMS mobile 20 receives the location information of the vehicle 10 from the vehicle 10 while moving on the ground, and continuously receives a radio signal from the vehicle 10 to receive the radio signal from the vehicle 10. Detects signal strength in real time.

The MMS mobile body 20 may include both a vehicle type installed in a vehicle and a backpack type that can be carried in the form of a backpack. Anything that is possible can be employed.

The position measuring unit 30 accurately measures the position of the MMS moving unit 20 by using the location information of the aircraft 10 stored in the MMS moving unit 20 and the signal strength of the radio signal.

In this case, the position measurement unit 30 synchronizes the signal strength of the radio signal and the location information of the aircraft 10 accumulated and stored in the MMS mobile unit 20, and the signal of the radio signal received by the MMS mobile unit 20 in the same time zone. After detecting the distance and direction of the MMS movable body 20 with respect to the vehicle 10 by using the intensity, the detected distance and direction of the MMS movable body 20 are applied to the location information of the vehicle 10 to apply the MMS movable body (20) Measure the location information.

That is, since the location information of the MMS movable body 20 can be accurately measured using the flying vehicle 10, the location information of the MMS movable body 20 can be accurately measured even when the MMS movable body 20 travels in a shaded area (multi-path area). can be measured

2 is a block diagram of an aircraft according to an embodiment of the present invention, FIG. 3 is a view showing the position of a target in an image according to the position of the aircraft according to an embodiment of the present invention, and FIG. 4 is a diagram of the present invention It is a block diagram of an MMS mobile body according to an embodiment, and FIG. 5 is a diagram conceptually illustrating the operation of an air vehicle and an MMS mobile body according to an embodiment of the present invention, and FIG. 6 is a position measurement according to an embodiment of the present invention It is a block diagram of negative.

Referring to FIG. 2 , the vehicle 10 includes a GPS receiver 11 , a short-range communication transmitter 12 , a flight unit 13 , and an aircraft control unit 14 .

The GPS receiver 11 detects location information of the vehicle 10 by receiving a GPS signal from a satellite.

The short-distance communication transmitter 12 transmits a wireless signal using short-range wireless communication to the MMS mobile body 20 on the ground. That is, the short-range communication transmitter 12 continuously transmits a wireless signal toward the MMS mobile body 20 on the ground using short-range wireless communication such as a Bluetooth method or NFC (Ner Field Communication).

The flight unit 13 flies the vehicle 10 to follow the MMS movable body 20 . That is, the flight unit 13 flies the vehicle 10 along the MMS movable body 20 in the sky according to the position of the MMS movable body 20, but according to the position of the MMS movable body 20, the position of the vehicle 10 is determined. Adjust in real time.

The flight unit 13 includes a camera unit 131 and a flight driving unit 132 .

The camera unit 131 photographs the MMS mobile body 20 on the ground.

The flight driving unit 132 flies the vehicle 10, but analyzes the image captured by the camera unit 131 and adjusts the position of the vehicle 10 to follow the MMS moving object 20 according to the analysis result.

The flight driving unit 132 analyzes the image captured by the camera unit 131 while flying the vehicle 10 to recognize the MMS mobile body 20 in the image, and the MMS mobile body 20 is continuously positioned in the image. Move the position of the aircraft 10 so that

In this case, the flight driver 132 may recognize the MMS movable body 20 by the shape or color of the MMS movable body 20 itself in the image, but also through the target 25 attached to the MMS movable body 20 . The MMS moving body 20 can be recognized.

That is, when the camera unit 131 shoots the target 25, the flight driving unit 132 analyzes the image taken by the camera unit 131 and recognizes the target 25 in the image, so that the target 25 is It is also possible to move the position of the aircraft 10 so that it can be continuously located in the image.

3 shows an image obtained by photographing the target 25 with the camera unit 131 . 3 (a) is a case in which the target 25 is located in the image, in this case, there is no need for the flight driving unit 132 to adjust the position of the aircraft 10 .

However, in FIG. 3 (b) is a case in which a part of the target 25 deviates from within the image, in this case the flight driving unit 132 adjusts the position of the aircraft 10, and in FIG. 3 (a) and Likewise, the target 25 may be positioned within the image.

In addition, when the target 25 is detected in the image taken by the camera unit 131, the flight driving unit 132 calculates a scale of the detected target 25, and according to the calculated scale of the target, the flight vehicle ( 10) Estimate the height.

That is, the flight driving unit 132 stores the aircraft 10 according to the size of the target 25 in the image in advance, and when the target 25 is detected in the image taken by the camera unit 132, the detected target ( The height of the vehicle 10 according to the scale of 25) is estimated, and the estimated height of the vehicle 10 is input to the vehicle control unit 14 .

When the location information of the vehicle 10 is detected through the GPS receiver 11, the vehicle controller 14 transmits the location information of the vehicle 10 to the MMS mobile 20 through a communication unit (not shown), and short-distance communication The transmitter 12 is controlled to transmit a radio signal to the MMS mobile body 20 .

In addition, the vehicle control unit 14 controls the flight unit 13 to move the vehicle 10 along the MMS movable body 20 . In this case, the camera unit 131 photographs the MMS moving object 20, and the flight driving unit 132 analyzes the captured image to recognize the MMS moving object 20 or the target 25 in the image, and the MMS moving object ( 20) Alternatively, the position of the vehicle 10 is moved so that the target 25 can be continuously located in the image.

In addition, the vehicle control unit 14 transmits the height of the vehicle 10 input from the flight driving unit 132 to the MMS mobile unit 20 through the communication unit.

Referring to FIG. 4 , the MMS mobile body 20 includes a short-range communication receiving unit 21 , a signal strength detecting unit 22 , a storage unit 23 , an MMS control unit 24 , and a target 25 .

The short-distance communication receiver 21 receives a radio signal transmitted from the aircraft 10 .

The signal strength detection unit 22 detects the signal strength of the radio signal received by the short-range communication receiving unit (21). That is, the signal strength of the wireless signal received by the short-distance communication receiver 21 is reduced according to the distance between the MMS mobile body 20 and the aircraft 10 . The direction and distance of the MMS moving body 20 may be detected based on the attenuation amount of the signal strength. This will be described later.

The storage unit 23 accumulates and stores the signal strength of the radio signal received by the short-distance communication receiving unit 21 , the location information of the vehicle 10 and the height of the vehicle 10 . That is, the storage unit 23 accumulates and stores the signal strength of the radio signal, the location information of the vehicle 10 and the height of the vehicle 10 according to the time sequence.

The target 25 is attached to a body (not shown) of the MMS mobile body 20 . Accordingly, the flying vehicle 10 is able to follow the MMS moving object 20 based on the captured image by photographing the corresponding target 25 .

The MMS control unit 24 controls the short-range communication receiving unit 21 to receive the radio signal transmitted from the aircraft 10, and controls the signal strength detecting unit 22 to detect the signal strength of the radio signal.

When the signal strength of the radio signal is detected by the signal strength detection unit 22 , the MMS control unit 24 stores the signal strength of the corresponding radio signal in the storage unit 23 .

In addition, the MMS control unit 24 receives the location information and height of the vehicle 10 from the vehicle 10 through the communication unit (not shown), and stores the location information and height of the vehicle 10 in the storage unit 23 . Save. Accordingly, in the storage unit 23, the signal strength of the radio signal, location information of the vehicle 10, and the height of the vehicle 10 are accumulated and stored.

For reference, the MMS moving body 20 may be manufactured in various forms, such as a vehicle type and a backpack type, and a device or method for moving the MMS may be used as it is, so a detailed description thereof will be omitted here.

On the other hand, the MMS control unit 24 transmits the signal strength of the radio signal stored in the storage unit 23 , location information of the vehicle 10 , and the height of the vehicle 10 to the position measurement unit 30 .

The MMS control unit 24 may transmit the signal strength of the wireless signal stored by the storage unit 23, the location information of the vehicle 10, and the height of the vehicle 10 to the position measurement unit 30 through various wired and wireless communication methods. have.

In this case, the MMS control unit 24 accumulates and stores the signal strength of the radio signal, the position information of the vehicle 10 and the height of the vehicle 10 in the storage unit 23, and then stores them in the position measurement unit 30 It may be transmitted in the form of a raw file, or it may be transmitted to the position measuring unit 30 in real time as soon as the signal strength of the radio signal, the position information of the vehicle 10 and the height of the vehicle 10 are acquired.

In particular, when the MMS mobile body 20 moves in the shaded area and acquires the location information of the vehicle 10, the signal strength of the radio signal, and the height of the vehicle 10, the location information of the MMS is accurately measured even for the shaded area. This makes it possible to accurately acquire geographic information data on the road.

Referring to FIG. 6 , the position measuring unit 30 detects the distance and direction of the MMS mobile body 20 with respect to the aircraft 10 by using the signal strength of the wireless signal received by the MMS mobile body 20 , The location information of the MMS movable body 20 is measured by applying the distance and the direction of the MMS movable body 20 to the location information of the flying vehicle 10 . The position measurement unit 30 includes a synchronization unit 31 , a signal strength analysis unit 32 , and a position detection unit 33 .

The synchronization unit 31 synchronizes the signal strength of the radio signal, the position information of the vehicle 10 and the height of the vehicle 10 . That is, the synchronization unit 31 is the signal strength of the radio signal, the position information of the vehicle 10, and the signal strength of the radio signal in the same time zone at the height of the vehicle 10, the position information of the vehicle 10, and the vehicle ( 10) to detect the height.

The signal strength analysis unit 32 is synchronized with the signal strength of the wireless signal, the position information of the vehicle 10 and the height of the vehicle 10 by the synchronization unit 31, using the signal strength of the wireless signal to the vehicle The distance and direction of the MMS moving body 20 with reference to (10) are detected.

In this case, the signal strength analyzer 32 may detect the distance and direction of the MMS moving body 20 using the fingerprint method.

For reference, the fingerprint method is a method of selecting a reference location in a service area, collecting signal strength, and estimating the location through the collected signal strength. In order to use such a fingerprint method, the propagation characteristics should be preliminarily converted into a database.

When the distance and direction of the MMS mobile body 20 are detected by the signal strength analysis unit 32, the location information and height of the vehicle 10 in the time period synchronized by the synchronization unit 31, and the vehicle 10 The position and direction of the MMS movable body 20 as a reference are detected.

Accordingly, the position detection unit 33 accurately measures the position of the MMS mobile 20 by using the location information and height of the flying object 10 and the position and direction of the MMS mobile 20 with respect to the flying object 10 . do.

That is, the position detection unit 33 can accurately detect the position information of the MMS mobile body 20 by applying the distance and direction of the MMS mobile body 20 to the position information and the height of the aircraft 10 .

Moreover, the position detection unit 33 can accurately detect the position information of the MMS mobile body 20 by reflecting the height of the aircraft 10 .

Hereinafter, a mobile mapping system location measurement method according to an embodiment of the present invention will be described in detail with reference to FIG. 7 .

7 is a flowchart illustrating a mobile mapping system location measurement method according to an embodiment of the present invention.

Referring to FIG. 7 , the aircraft 10 acquires its own location information and height while flying along the MMS mobile 20 on the ground and transmits it to the MMS mobile 20 on the ground, and a wireless signal to the MMS mobile 20 to send

In this case, the MMS mobile body 20 receives position information and height of the aircraft 10 from the aircraft 10 while moving on the ground and also continuously receives a radio signal from the aircraft 10 (S10).

The vehicle 10 follows the MMS mobile 20 in the process of transmitting the position information and height of the vehicle 10 and transmitting a radio signal as described above.

That is, the vehicle 10 flies along the MMS movable body 20 in the sky according to the position of the MMS movable body 20. The MMS movable body 20 on the ground is photographed, the captured image is analyzed, and the MMS according to the analysis result. The position of the aircraft 10 is adjusted to follow the moving object 20 .

For example, the vehicle 10 analyzes the captured image to recognize the MMS mobile body 20 in the image, and moves the location of the vehicle 10 so that the MMS mobile body 20 can be continuously positioned in the image, or , the target 25 attached to the MMS moving body 20 is photographed, the captured image is analyzed, the target 25 is recognized in the image, and the target 25 is continuously positioned in the image. You can also move the location.

In addition, the vehicle 10 estimates its own height according to the scale of the target 25 in the image, and transmits the estimated height to the MMS mobile body 20 .

On the other hand, when the MMS mobile body 20 receives the location information and height of the vehicle 10 and receives a wireless signal from the vehicle 10, the signal strength of the wireless signal received from the vehicle 10 is detected in real time (S20) ).

Thereafter, the position measuring unit 30 receives the position information and the height of the aircraft 10 and the signal strength of the radio signal from the MMS moving object 20, and the position information and the height of the aircraft 10 and the signal strength of the radio signal. By synchronizing, the position information and height of the aircraft 10 in the same time zone and the signal strength of the radio signal are detected.

Then, the position measuring unit 30 detects the distance and direction of the MMS mobile body 20 with respect to the flying vehicle 10 by using the signal strength of the radio signal (S30). In this case, the signal strength analyzer 32 may detect the distance and direction of the MMS moving body 20 using a fingerprint method.

The position measuring unit 30 measures the position of the MMS mobile body 20 by using the location information and height of the aircraft 10 and the position and direction of the MMS mobile body 20 with respect to the aircraft 10 as described above. can do. That is, the position measurement unit 30 accurately measures the position information of the MMS mobile body 20 by applying the distance and direction of the MMS mobile body 20 to the location information and the height of the aircraft 10 (S40).

As described above, the mobile mapping system location measuring apparatus and method according to an embodiment of the present invention accurately measure the location of the mobile mapping system using the physical distance between the mobile mapping system and the vehicle 10 and the location information of the vehicle 10 . do.

In addition, the apparatus and method for measuring the location of a mobile mapping system according to an embodiment of the present invention accurately measure the location of the mobile mapping system in a shaded area to build a more precise and accurate map.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary and those of ordinary skill in the art to which the art pertains are aware that various modifications and equivalent other embodiments are possible therefrom. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

10: vehicle 11: GPS receiver
12: short-distance communication transmitter 13: flight unit
131: camera unit 132: flight driving unit
14: vehicle control unit 20: MMS mobile body
21: short-distance communication receiving unit 22: signal strength detection unit
23: storage unit 24: MMS control unit
25: target 30: position measuring unit
31: synchronization unit 32: signal strength analysis unit
33: position detection unit

Claims (18)

an aircraft that detects and transmits its own location information and height, and outputs a wireless signal;
MMS (Mobile Mapping System) mobile body for receiving a wireless signal from the vehicle while moving on the ground, detecting and storing the signal strength of the wireless signal, and receiving and storing the location information and height of the vehicle from the vehicle; and
and a position measuring unit for measuring the position of the MMS mobile body by using the signal strength of the radio signal received by the MMS mobile body and the location information and height of the flying object,
The position measuring unit detects the distance and direction of the MMS moving object with respect to the vehicle by using the signal strength of the radio signal received by the MMS moving object, and sets the detected distance and direction of the MMS moving object to the location information of the vehicle. A mobile mapping system position measuring device, characterized in that it measures the position of the MMS mobile body by applying it to the height.
According to claim 1, wherein the vehicle is
a GPS receiver for detecting the location information of the vehicle;
Short-distance communication transmitter for outputting a wireless signal;
a flight unit for tracking the MMS moving object and estimating the height of the vehicle; and
While tracking the MMS mobile body through the flight unit, the location information of the vehicle detected by the GPS receiver and the height of the vehicle estimated by the flight unit are transmitted to the MMS mobile unit, and the short-distance communication transmitter is controlled by Mobile mapping system position measuring device, characterized in that it comprises an aircraft control unit for transmitting a radio signal to the MMS moving object.
According to claim 2, wherein the flight unit
a camera unit for photographing the MMS moving body; and
Mobile mapping system position measuring device comprising a flight driving unit for analyzing the image taken by the camera unit and adjusting the position to follow the MMS moving body according to the analysis result.
According to claim 3, wherein the flight driver recognizes the MMS mobile body in the image taken by the camera unit, the mobile mapping system position measuring device, characterized in that to control the flight according to the location of the MMS mobile body in the image.
[Claim 5] The mobile mapping system position measuring device according to claim 4, wherein the flight driving unit controls the flight so that the MMS moving object is located in the image captured by the camera unit.
According to claim 3, wherein the flight driver recognizes the target installed in the MMS moving body in the image taken by the camera unit to control the flight according to the location of the target in the image mobile mapping system position measuring device characterized in that .
According to claim 6, wherein the flight driving unit mobile mapping system position measuring device, characterized in that for controlling the flight so that the target is located in the image taken by the camera unit.
According to claim 6, wherein the flight driving unit mobile mapping system position measuring device, characterized in that for estimating the height of the vehicle according to the scale of the target in the image taken by the camera unit.
delete MMS (Mobile Mapping System) accumulatively storing the location information and height of the vehicle received from the vehicle as the mobile body moves to the ground and the signal strength of the wireless signal received from the vehicle; and
Comprising the step of measuring the position of the MMS mobile body by using the position measurement unit position information and height of the aircraft stored in the MMS mobile body and the signal strength of the radio signal,
The position measuring unit detects the distance and direction of the MMS moving object with respect to the vehicle by using the signal strength of the radio signal received by the MMS moving object, and sets the detected distance and direction of the MMS moving object to the location information of the vehicle. A mobile mapping system position measuring method, characterized in that measuring the position of the MMS mobile body by applying to the height.
11. The method of claim 10, wherein the vehicle continuously transmits location information and height to the MMS moving object while following the MMS moving object, and transmits a radio signal to the MMS moving object.
The method according to claim 11, wherein the vehicle takes the MMS moving object, analyzes the captured image, and adjusts the position to follow the MMS moving object according to the analysis result.
The method according to claim 12, wherein the vehicle recognizes the MMS moving object in the captured image and controls the flight according to the location of the MMS moving object in the image.
The method of claim 13, wherein the vehicle controls the flight so that the MMS moving object is located in the captured image.
The method of claim 12 , wherein the vehicle recognizes a target installed in the MMS moving object from the captured image and controls the flight according to the location of the target in the image.
The method of claim 15, wherein the vehicle controls the flight so that the target is located in the captured image.
The method of claim 15 , wherein the vehicle estimates the height of the vehicle according to the scale of the target in the captured image.
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