KR102664900B1 - Apparatus for measuring ground control point using unmanned aerial vehicle and method thereof - Google Patents

Abstract

The present invention discloses a ground control point surveying device and method using a drone. The ground control point surveying device using a drone of the present invention includes an RTK receiver for measuring the position of the drone; An attitude measurement unit that measures the flight attitude of the drone; An altitude measurement unit to measure the altitude of the drone; An image capture unit for capturing ground control points; Drone driving unit for driving the drone; After inputting a control command to the drone driving unit to hover the drone above the ground reference point, the location and altitude of the drone acquired from the RTK receiver and altitude measuring unit are inputted to confirm the drone's position, and the drone's flight attitude is determined from the attitude measuring unit. It is characterized in that it includes a survey control unit that receives the input and obtains the coordinates of the ground control point from the captured image through the image capture unit to measure the location of the ground control point.

Description

Ground control point surveying device and method using a drone {APPARATUS FOR MEASURING GROUND CONTROL POINT USING UNMANNED AERIAL VEHICLE AND METHOD THEREOF}

The present invention relates to a ground control point surveying device and method using a drone. More specifically, the present invention relates to a ground control point surveying device and method using a drone. After hovering above the ground control point using a drone and photographing the ground control point, the location of the drone and the ground control point are determined from the captured image. It relates to a ground control point surveying device and method using a drone that acquires coordinates and measures the location of a ground control point.

In general, GPS technology and digital map production technology, which are widely used in navigation, etc., are making rapid progress and are becoming necessities of human life.

In addition, the map image (digital map image) that serves as the background for navigation has gone beyond a simple two-dimensional drawing image and has developed into a real-life image such as an aerial photographic image, and is further improving and developing into a three-dimensional stereoscopic image.

However, once the map image that serves as the background for navigation is created, the existing image is continuously used unless it is updated with a new map image. In other words, if the map image is before update, even if temporal changes in the natural landscape or artificial changes caused by humans occur, the map image displayed on the navigation system will inevitably be the image before the change, which is different from the actual appearance.

The background technology of the present invention is disclosed in Republic of Korea Patent Publication No. 1058189 (2011.08.22 notice, control system for geodetic survey processing correction linking ground control point survey data and GPS/INS).

In order to update or correct the map image according to this change, errors can be minimized by converting to absolute coordinates used in surveying and matching the map image.

In order to minimize these errors, it is necessary to survey points in the image that are easy to read in the photos, register them, and then input the position values. These points are called ground control points (GCP).

Points that are easy to read are usually used as ground reference points, and when such points are not available, they are artificially marked, and the location information is measured and used in post-processing.

In order to artificially display and measure the location information in this way, the setter must personally visit the actual location corresponding to the ground control point and measure and collect the coordinates of the point to be set as the ground control point, or install an identifiable sign. There are limitations in acquisition in areas where access is not easy (highways, railways, over bridges, etc.), and there are also limitations in acquisition in multi-pass areas such as areas with dense buildings, resulting in inefficiency in terms of time and cost.

The present invention was created to improve the problems described above, and the purpose of the present invention according to one aspect is to hover above the ground reference point using a drone and photograph the ground reference point, and then determine the location of the drone and the captured image. To provide a ground control point surveying device and method using a drone that acquires the coordinates of a ground control point and measures the location of the ground control point.

A ground control point surveying device using a drone according to one aspect of the present invention includes an RTK receiver for measuring the position of the drone; An attitude measurement unit that measures the flight attitude of the drone; An altitude measurement unit to measure the altitude of the drone; An image capture unit for photographing a ground reference point; Drone driving unit for driving the drone; After inputting a control command to the drone drive unit to hover the drone above the ground reference point, the location and altitude of the drone acquired from the RTK receiver and altitude measurement unit are input to confirm the drone's position, and the drone's flight attitude is determined from the attitude measurement unit. It is characterized in that it includes a survey control unit that receives the input and obtains the coordinates of the ground control point from the captured image through the image capture unit and measures the location of the ground control point.

In the present invention, the attitude measuring unit is characterized in that it measures the attitude with respect to the ground including the ground reference point.

In the present invention, the altitude measurement unit is characterized in that it includes at least one of a barometer, an altimeter, and a laser scanner.

In the present invention, the survey control unit determines the location of the drone by correcting the altitude acquired from the RTK receiver based on the altitude of the drone acquired from the altitude measurement unit and the distance between the drone and the ground containing the ground reference point.

In the present invention, the survey control unit hovers the drone above the ground control point through the drone driving unit and then returns to measure the location of the ground control point from the location of the drone and the captured image.

In the present invention, the survey control unit measures the position of the ground control point by correcting the coordinates of the ground control point obtained from the captured image according to the flight attitude of the drone.

A ground control point surveying method using a drone according to another aspect of the present invention includes the steps of a survey control unit inputting a control command to a drone driving unit to hover the drone above the ground control point and returning it; A step where the survey control unit receives the location and altitude of the drone acquired from the RTK receiver and the altitude measurement unit and determines the location of the drone when hovering; A survey control unit determining the attitude of the drone when hovering from the flight attitude of the drone obtained from the attitude measurement unit; A survey control unit acquiring the coordinates of a ground control point from the captured image from the video capture unit when the drone is hovering; And measuring the position of the ground control point based on the position and attitude of the drone with respect to the coordinates of the ground control point acquired by the survey control unit.

In the present invention, the step of determining the location of the drone is where the survey control unit corrects the altitude acquired from the RTK receiver based on the altitude of the drone acquired from the altitude measurement unit and the distance between the drone and the ground containing the ground control point to determine the location of the drone. It is characterized by confirmation.

In the present invention, the step of determining the attitude of the drone is characterized in that the survey control unit determines the attitude with respect to the ground containing the ground control point.

According to one aspect of the present invention, a ground control point surveying device and method using a drone is used to hover over a ground control point using a drone, photograph the ground control point, and then obtain the coordinates of the ground control point from the location of the drone and the captured image. By measuring the location of the ground control point, it is possible to effectively measure the ground control point in areas that are not easy to access (highways, railroads, over bridges, etc.).

Figure 1 is a block diagram showing a ground control point surveying device using a drone according to an embodiment of the present invention.
Figure 2 is an exemplary diagram showing a surveying situation of a ground control point surveying device using a drone according to an embodiment of the present invention.
Figure 3 is a diagram showing an example of surveying by a ground control point surveying device using a drone according to an embodiment of the present invention.
Figure 4 is a flowchart illustrating a ground control point surveying method using a drone according to an embodiment of the present invention.

Hereinafter, a ground control point surveying device and method using a drone according to the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a block diagram showing a ground control point surveying device using a drone according to an embodiment of the present invention, and Figure 2 is an example diagram showing a surveying situation of a ground control point surveying device using a drone according to an embodiment of the present invention. 3 is a diagram showing an example of surveying by a ground control point surveying device using a drone according to an embodiment of the present invention.

As shown in Figure 1, the ground control point surveying device using a drone according to an embodiment of the present invention includes an RTK receiver 10, an attitude measurement unit 20, an altitude measurement unit 30, and an image capture unit 40. , may include a drone driving unit 60 and a surveying control unit 50.

The RTK receiver 10 may measure the location of the drone 100 based on RTK (Real Time Kinematic) information and provide the acquired location of the drone 100 to the survey control unit 50.

RTK is a concept of real-time mobile positioning that allows accurate positioning results to be obtained in real time from a mobile station by using correction values for the carrier phase of a reference station with precise location information. In other words, a precise location can be measured by correcting the GPS error received from a reference station that accurately knows the current location by receiving it from a nearby mobile station.

The attitude measurement unit 20 measures the flight attitude of the drone 100 based on an inertial sensor and provides it to the survey control unit 50, so that when hovering to photograph the ground control point 110, the ground control point 110 is measured. It allows the shooting angle, etc. to be accurately calculated based on the posture with the ground, including.

The altitude measurement unit 30 may measure the altitude of the drone 100 using one or more of a barometer, an altimeter, and a laser scanner and provide the measurement to the survey control unit 50.

That is, the altitude of the drone 100 acquired from the RTK receiver 10 can be corrected based on the altitude measured using the barometer and altimeter and the distance between the drone 100 and the ground measured from the laser scanner.

The image capture unit 40 may provide the captured image including the meteorological reference point 110 to the survey control unit 50.

The drone driving unit 60 can drive the drone 100 to hover or return the drone 100 according to a control command.

The survey control unit 50 inputs a control command to the drone driving unit 60 to hover the drone 100 above the ground control point 110 as shown in FIG. 2, and then sends the RTK receiver 10 and the altitude measurement unit ( The location and altitude of the drone 100 acquired from 20) are input, the location of the drone 100 is confirmed, and the flight attitude of the drone 100 is input from the attitude measurement unit 20, and the flight attitude of the drone 100 is input through the video capture unit 40. After obtaining the coordinates of the ground control point 110 from the captured video, the coordinates of the ground control point 110 can be measured by correcting the coordinates of the ground control point 110 according to the shooting angle according to the location and flight attitude of the drone 100. .

For example, as shown in FIG. 3, it is possible to take an orthoimage by hovering vertically above the ground control point 110, as in case 1, but when it is not possible to fly above the ground control point 110, as in case 2. It is also possible to shoot an oblique image in an adjacent area and correct the coordinates of the ground reference point 110 according to the shooting angle.

Here, when a control command is input to the drone driving unit 60, the survey control unit 50 automatically inputs a control command according to the set coordinate value for surveying the ground reference point 110 to sequentially measure multiple points. Alternatively, the user may input a control command as the measurement is manually adjusted through the survey control unit 50.

The survey control unit 50 calculates the altitude acquired from the RTK receiver 10 based on the altitude of the drone 100 acquired from the altitude measurement unit 30 and the distance between the drone 100 and the ground containing the ground reference point 110. Through correction, the Z-axis position of the drone 100 can be confirmed.

In this way, the survey control unit 50 hovers the drone 100 above the ground reference point 110 through the drone driving unit 30 and then returns it to record the captured image while hovering and the position and posture of the drone 100. It is possible to receive input and measure the location of the ground reference point 110 based on this.

As described above, according to the ground control point surveying device using a drone according to an embodiment of the present invention, the ground control point is photographed by hovering over the ground control point using a drone, and then the ground control point is captured in the location and captured image of the drone. By acquiring the coordinates and measuring the location of the ground control point, it is possible to effectively measure the ground control point in areas that are not easy to access (highways, railroads, over bridges, etc.).

Figure 4 is a flowchart illustrating a ground control point surveying method using a drone according to an embodiment of the present invention.

As shown in Figure 4, in the ground control point surveying method using a drone according to an embodiment of the present invention, first, the survey control unit 50 inputs a control command to the drone driving unit 60 to set the drone 100 to the ground control point ( 110) and then returns to the sky (S10).

Here, the drone 100 measures the position and flight attitude of the drone 100 through the RTK receiver 10, the attitude measurement unit 20, and the altitude measurement unit 30 while hovering over the ground reference point 110, An image including the ground reference point 110 is captured through the image capture unit 40.

In step S10, when the drone 100 hovers over the ground reference point 110 and returns, the survey control unit 50 records the location and altitude of the drone 100 acquired from the RTK receiver 10 and the altitude measurement unit 20. Upon receiving the input, the location of the drone 100 is confirmed when hovering (S20).

The survey control unit 50 measures the altitude of the drone 100 acquired from the altitude measurement unit 30 at the location of the drone 100 acquired from the RTK receiver 10, the ground containing the ground reference point 110, and the drone 100. The Z-axis position of the drone 100 can be confirmed by correcting the altitude acquired from the RTK receiver 10 based on the distance.

After determining the position of the drone 100 in step S20, the survey control unit 50 determines the attitude of the drone 100 with respect to the ground including the ground reference point 110 when hovering from the flight attitude of the drone 100 acquired from the attitude measurement unit 20. Decide (S30).

In this way, the coordinates of the ground reference point 110 can be corrected by correcting the shooting angle of the captured image according to the posture of the drone 100.

After determining the attitude of the drone 100 in step S30, the survey control unit 50 acquires the coordinates of the ground reference point 110 from the captured image from the image capture unit 40 when the drone 100 hovers (S40) ).

After acquiring the coordinates of the ground control point 110 from the captured image in step S40, the survey control unit 50 determines the ground control point 110 based on the position and attitude of the drone 100 with respect to the coordinates of the acquired ground control point 110. Measure the position of the ground reference point 110 by correcting the coordinates (S50).

As described above, according to the ground control point surveying method using a drone according to an embodiment of the present invention, the ground control point is photographed by hovering above the ground control point using a drone, and then the ground control point is captured in the location and captured image of the drone. By acquiring the coordinates and measuring the location of the ground control point, it is possible to effectively measure the ground control point in areas that are not easy to access (highways, railroads, over bridges, etc.).

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the true technical protection scope of the present invention should be determined by the claims below.

10: RTK receiver 20: Posture measurement unit
30: Altitude measurement unit 40: Video recording unit
50: Survey control unit 60: Drone driving unit
100: Drone 110: Ground reference point

Claims (9)

RTK receiver to measure the location of the drone;
An attitude measurement unit that measures the flight attitude of the drone;
An altitude measurement unit for measuring the altitude of the drone;
An image capture unit for capturing ground control points;
A drone driving unit for driving the drone; and
A control command is input to the drone driving unit to hover the drone above the ground reference point, and then the position and altitude of the drone acquired from the RTK receiver and the altitude measurement unit are input to confirm the position of the drone, and the attitude is determined. A survey control unit that receives the flight attitude of the drone from the measurement unit, obtains the coordinates of the ground control point from the captured image through the image capture unit, and measures the location of the ground control point.
The survey control unit determines the location of the drone by correcting the altitude obtained from the RTK receiver based on the distance between the drone and the ground containing the ground reference point measured from a laser scanner. Reference point measuring device.
The ground control point surveying device according to claim 1, wherein the attitude measurement unit measures an attitude with respect to the ground containing the ground control point.
The ground control point surveying device according to claim 1, wherein the altitude measurement unit includes one or more of a barometer, an altimeter, and a laser scanner.
The ground control point surveying device according to claim 1, wherein the survey control unit corrects the altitude acquired from the RTK receiver by further including the altitude of the drone acquired from the altitude measurement unit.
The method of claim 1, wherein the survey control unit hovers the drone above the ground control point through the drone driving unit and then returns the drone to measure the location of the ground control point based on the location of the drone and the captured image. Ground control point surveying device using drones.
The ground control point surveying device according to claim 1, wherein the survey control unit measures the location of the ground control point by correcting the coordinates of the ground control point obtained from the captured image according to the flight attitude of the drone. .
A step where the survey control unit inputs a control command to the drone driving unit to hover the drone above the ground reference point and then return it;
The survey control unit receiving the location and altitude of the drone acquired from the RTK receiver and the altitude measurement unit and determining the location of the drone when hovering;
determining the attitude of the drone when the survey control unit hovers from the flight attitude of the drone obtained from the attitude measurement unit;
The survey control unit acquiring coordinates of the ground control point from a captured image taken by an image capture unit when the drone hovers; and
Measuring the position of the ground control point based on the position and attitude of the drone with respect to the coordinates of the ground control point acquired by the survey control unit,
In the step of determining the location of the drone, the survey control unit determines the location of the drone by correcting the altitude obtained from the RTK receiver based on the distance between the drone and the ground containing the ground reference point measured from a laser scanner. A ground reference point surveying method using a drone, characterized in that:
The method of claim 7, wherein in the step of determining the location of the drone, the survey control unit corrects the altitude acquired from the RTK receiver by further including the altitude of the drone acquired from the altitude measurement unit. Reference point measurement method.
The method of claim 7, wherein in the step of determining the attitude of the drone, the survey control unit determines the attitude of the ground control point with respect to the ground containing the ground control point.

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