Program, method, information processing device, and system

Abstract

To easily create drawings such as plan views or cross-sectional views in real time.SOLUTION: Provided is a program to be executed by a computer having a processor and a memory. The program causes the processor to execute the steps of: acquiring measurement values at a predetermined period from a GNSS (Global Navigation Satellite System) receiver installed at the other end of a pole that is moved while one end is in contact with a survey surface; calculating position coordinates on the survey surface based on the measurement values acquired at each predetermined period; generating a line between the point for which the position coordinates are calculated and the point for which the position coordinates are calculated in advance when the position coordinates are calculated; and presenting the generated line to a user.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a program, a method, an information processing device, and a system. [Background technology]

[0002] There are GNSS devices with built-in tilt sensors (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-178983 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the GNSS device is used to record coordinate values, but there is no mention of creating drawings such as plan views or cross-sectional views.

[0005] An object of the present disclosure is to easily create drawings such as plan views or cross-sectional views in real time. [Means for solving the problem]

[0006] A program to be executed by a computer having a processor and a memory. The program causes the processor to execute the steps of: acquiring measurement values ​​at a predetermined cycle from a Global Navigation Satellite System (GNSS) receiver installed at one end of a pole that is moved while the other end is in contact with a survey surface; calculating position coordinates on the survey surface based on the measurement values ​​acquired at each predetermined cycle; generating a line between the point whose position coordinates have been calculated and the point whose position coordinates have been previously calculated; and presenting the generated line to a user. Effect of the Invention

[0007] According to the present disclosure, drawings such as plan views or cross-sectional views can be easily created in real time. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an example of the overall configuration of a system 1. FIG. [Diagram 2] 2 is a block diagram illustrating a configuration example of a GNSS receiver 20 shown in FIG. [Diagram 3] 2 is a block diagram illustrating an example of the configuration of a terminal device 10 shown in FIG. [Figure 4] 10 is a schematic diagram illustrating an operation of the terminal device 10 according to the present embodiment to generate a line in which the ground point has moved. [Diagram 5] 10 is a flowchart illustrating an example of an operation performed by the terminal device 10 when presenting a line to a user. [Figure 6] 1 is a schematic diagram illustrating a case where a user moves the GNSS receiver 20. FIG. [Figure 7] 1 is a schematic diagram showing an example of a plan view displayed on a display 141. FIG. [Figure 8] 1 is a schematic diagram showing an example of a plan view displayed on a display 141. FIG. [Figure 9] 1 is a schematic diagram showing an example of a plan view displayed on a display 141. FIG. [Figure 10] 13 is a schematic diagram showing another example of a plan view displayed on the display 141. FIG. [Figure 11] 1 is a schematic diagram showing an example of a cross-sectional view displayed on a display 141. FIG. [Figure 12] 13 is a schematic diagram illustrating another example of the operation of the terminal device 10 to generate a line. FIG. [Figure 13] 13 is a schematic diagram illustrating another example of the operation of the terminal device 10 to generate a line. FIG. [Figure 14] FIG. 2 is a block diagram showing the basic hardware configuration of a computer 90. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

[0010] <Summary> In this embodiment, a user moves one end of a pole, to which a GNSS receiver is attached, along the other end of a survey surface. The information processing device acquires measurement data measured by the GNSS receiver at a predetermined interval. The information processing device calculates position coordinates of the survey surface based on the acquired measurement data. The information processing device creates a line (trajectory) by sequentially connecting the calculated position coordinates.

[0011] <1 Overall system configuration> Fig. 1 is a block diagram showing an example of the overall configuration of a system 1. The system 1 shown in Fig. 1 includes, for example, a terminal device 10 and a GNSS receiver 20. The terminal device 10 and the GNSS receiver 20 are connected, for example, by a predetermined wireless communication method. The predetermined wireless communication method includes, for example, Bluetooth (registered trademark), Wi-Fi (registered trademark), etc.

[0012] The terminal device 10 shown in Fig. 1 is an information processing device operated by a user that measures the position of a topography or the like using a GNSS receiver 20. The terminal device 10 is realized by, for example, a mobile terminal such as a smartphone or a tablet. The terminal device 10 is fixed to, for example, a holder provided on a pole 21. By fixing the terminal device 10 to the pole 21, the user can check the display of the terminal device 10 while holding the pole 21 and moving the GNSS receiver 20. The terminal device 10 may be a wearable terminal such as an HMD (Head Mount Display) or a wristwatch-type terminal.

[0013] The terminal device 10 includes a communication IF (Interface) 12, an input device 13, an output device 14, a memory 15, a storage 16, and a processor 19. The input device 13 is a device for receiving an input operation from a user (for example, a touch panel, a touch pad, an input button, a pointing device such as a mouse, a keyboard, etc.). The output device 14 is a device for presenting information to a user (a display, a speaker, etc.).

[0014] The GNSS receiver 20 is a device that uses a Global Navigation Satellite System (GNSS). In this embodiment, a case where a Global Positioning System (GPS) is used will be described as an example. The GNSS receiver 20 measures, for example, the coordinates, the inclination of the pole 21, and the direction in which the GNSS receiver 20 faces in response to an instruction from a user. The GNSS receiver 20 may also measure, for example, the coordinates, the inclination, and the direction at a predetermined period. The predetermined period is, for example, a period of about 10 measurements per second. The GNSS receiver 20 transmits data related to the measured coordinates, inclination, and direction to the terminal device 10 as measurement data.

[0015] The GNSS receiver 20 is attached to a pole 21. The pole 21 has a flat portion 211 formed at one end and a ground portion 213 formed at the other end. The flat portion 211 is installed perpendicular to a leg portion 212 of the pole 21. The GNSS receiver 20 is attached to approximately the center of the flat portion 211. The approximate center of the flat portion 211 is located, for example, on an extension of the axis of the leg portion 212 that passes through the ground portion 213. It is desirable that the length of the pole 21 is long enough to compensate for errors in the position information sensor 205. The length of the pole 21 is, for example, 1 m or more.

[0016] <1.1 GNSS receiver configuration> Fig. 2 is a block diagram showing an example of the configuration of the GNSS receiver 20 shown in Fig. 1. As shown in Fig. 2, the GNSS receiver 20 includes a communication unit 201, an input device 203, an output device 204, a position information sensor 205, a tilt sensor 206, an electronic compass 207, a storage unit 208, and a control unit 209. The blocks included in the GNSS receiver 20 are electrically connected to each other, for example, by a bus or the like.

[0017] The communication unit 201 performs processes such as modulation and demodulation for the GNSS receiver 20 to communicate with other devices. The communication unit 201 performs transmission processing on data measured by the position information sensor 205, tilt sensor 206, and electronic compass 207, and transmits the data to the terminal device 10. Specifically, for example, the communication unit 201 converts the data measured by the position information sensor 205, tilt sensor 206, and electronic compass 207 into a signal conforming to a predetermined protocol for short-distance wireless communication. The communication unit 201 transmits the converted signal to the terminal device 10.

[0018] Moreover, the communication unit 201 performs reception processing on a signal received from the terminal device 10 and outputs the signal to the control unit 209. Specifically, the communication unit 201 receives, for example, a signal for operating the GNSS receiver 20 transmitted from the terminal device 10, and performs reception processing on the received signal. More specifically, the communication unit 201 receives, for example, a signal for switching the state (mode) of the GNSS receiver 20 transmitted from the terminal device 10. The modes of the GNSS receiver 20 include, for example, a first mode, a second mode, a third mode, and a fourth mode. The first mode is, for example, a mode for measuring the position of the ground part 213 that contacts the survey surface. The second mode is, for example, a mode for drawing the trajectory of the ground point in real time. The third mode is a mode for calculating a correction value that takes true north into consideration in the terminal device 10. The fourth mode is a mode for performing calibration of the tilt sensor 206 or the electronic compass 207.

[0019] The input device 203 is a device for inputting instructions by a user operating the GNSS receiver 20. The input device 203 is realized by, for example, a button or the like. The input device 203 converts the instructions input by the user into an electrical signal and outputs the electrical signal to the control unit 209. Note that the input device 203 may include, for example, a receiving port that receives an electrical signal input from an external input device.

[0020] The output device 204 is a device for presenting information to a user who operates the GNSS receiver 20. The output device 204 is realized by, for example, a light-emitting unit, a display, or a speaker. The light-emitting unit, the display, or the speaker outputs information according to the control of the control unit 209.

[0021] The position information sensor 205 is a sensor that detects the position of the GNSS receiver 20, and is, for example, a GPS module. The GPS module is a receiving device used in a satellite positioning system. In the satellite positioning system, signals are received from at least three or four satellites, and the current position of the GNSS receiver 20 in which the GPS module is mounted is detected based on the received signals. The position information sensor 205 detects coordinates as the current position, for example, in response to an instruction from the control unit 209. The position information sensor 205 detects, for example, (longitude, latitude, ellipsoid height) as the coordinates.

[0022] The tilt sensor 206 is a sensor that measures the tilt angle from a reference state. In this embodiment, the tilt sensor 206 includes, for example, an acceleration sensor that can measure acceleration, and measures the gravitational acceleration to measure the tilt. The tilt sensor 206 measures the tilt in response to, for example, an instruction from the control unit 209. The tilt sensor 206 is not limited to an acceleration sensor as long as it can measure the tilt angle, and may include, for example, a gyro sensor.

[0023] The electronic compass 207 is a direction sensor using a semiconductor, and detects the north-south geomagnetism to calculate the direction. Any known technology may be used, such as a sensor using an MR element or a sensor using a GMR element. The electronic compass 207 measures the direction, for example, in response to an instruction from the control unit 209.

[0024] The storage unit 208 is realized by, for example, a memory, a storage, etc., and stores data and programs used by the GNSS receiver 20. The storage unit 208 also stores, for example, data measured by the position information sensor 205, the tilt sensor 206, and the electronic compass 207.

[0025] The control unit 209 is realized by the processor reading a program stored in the storage unit 208 and executing instructions included in the program. The control unit 209 controls the operation of the GNSS receiver 20. The control unit 209 operates according to the program to fulfill the functions of an operation reception unit 2091, a transmission / reception unit 2092, a measurement control unit 2093, and a switching control unit 2094.

[0026] The operation reception unit 2091 performs processing for receiving instructions input from the input device 203 .

[0027] The transmitting / receiving unit 2092 performs processing for the GNSS receiver 20 to transmit and receive data to and from the terminal device 10 in accordance with a communication protocol. Specifically, for example, the transmitting / receiving unit 2092 transmits coordinates measured by the position information sensor 205, tilt measured by the tilt sensor 206, and orientation measured by the electronic compass 207 to the terminal device 10 as measurement data. The tilt measured by the tilt sensor 206 and the orientation measured by the electronic compass 207 may be expressed as roll, pitch, and yaw relative to magnetic north (including the direction currently set as the own north). The transmitting / receiving unit 2092 also receives information provided by the GNSS receiver 20.

[0028] The measurement control unit 2093 controls the measurement by the position information sensor 205, the tilt sensor 206, and the electronic compass 207. Specifically, for example, the measurement control unit 2093 controls the measurement by the position information sensor 205, the tilt sensor 206, and the electronic compass 207 in a predetermined mode. More specifically, for example, when the measurement control unit 2093 receives an instruction to execute measurement from the terminal device 10 in the first mode, the measurement control unit 2093 causes the position information sensor 205, the tilt sensor 206, and the electronic compass 207 to execute data measurement. Also, for example, the measurement control unit 2093 causes the position information sensor 205, the tilt sensor 206, and the electronic compass 207 to execute data measurement in a predetermined cycle (for example, a cycle of about 10 measurements per second) in the second mode. Also, for example, when the measurement control unit 2093 receives an instruction to execute measurement from the terminal device 10 in the third mode, the measurement control unit 2093 causes the position information sensor 205, the tilt sensor 206, and the electronic compass 207 to execute data measurement. Also, for example, the measurement control unit 2093 controls the tilt sensor 206 and the electronic compass 207 in the fourth mode.

[0029] The switching control unit 2094 controls switching of the mode of the GNSS receiver 20. Specifically, for example, the switching control unit 2094 sets one of the first mode, the second mode, the third mode, and the fourth mode based on a signal from the terminal device 10. The switching control unit 2094 may switch the mode based on an instruction from the user inputted from the input device 203.

[0030] <1.2 Terminal device configuration> Fig. 3 is a block diagram showing a configuration example of the terminal device 10 shown in Fig. 1. As shown in Fig. 3, the terminal device 10 includes a communication unit 120, an input device 13, an output device 14, an audio processing unit 17, a microphone 171, a speaker 172, a camera 160, a position information sensor 150, a storage unit 180, and a control unit 190. The blocks included in the terminal device 10 are electrically connected to each other, for example, by a bus or the like.

[0031] The communication unit 120 performs processing such as modulation and demodulation processing for the terminal device 10 to communicate with other devices. The communication unit 120 performs transmission processing on the signal generated by the control unit 190 and transmits the signal to the GNSS receiver 20. The communication unit 120 performs reception processing on the signal received from the GNSS receiver 20 and outputs the signal to the control unit 190.

[0032] The input device 13 is a device for inputting instructions or information by a user who operates the terminal device 10. The input device 13 is realized, for example, by a touch-sensitive device 131 or the like in which an instruction is input by touching an operation surface. In the case where the terminal device 10 is a PC or the like, the input device 13 may be realized by a reader, a keyboard, a mouse, or the like. The input device 13 converts an instruction input by a user into an electrical signal, and outputs the electrical signal to the control unit 190. Note that the input device 13 may include, for example, a receiving port that receives an electrical signal input from an external input device.

[0033] The output device 14 is a device for presenting information to a user who operates the terminal device 10. The output device 14 is realized, for example, by a display 141 or the like. The display 141 displays information according to the control of the control unit 190. The display 141 is realized, for example, by an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display or the like.

[0034] The audio processing unit 17 performs, for example, digital-analog conversion processing of an audio signal. The audio processing unit 17 converts a signal provided from the microphone 171 into a digital signal and provides the converted signal to the control unit 190. The audio processing unit 17 also provides the audio signal to the speaker 172. The audio processing unit 17 is realized, for example, by a processor for audio processing. The microphone 171 accepts audio input and provides an audio signal corresponding to the audio input to the audio processing unit 17. The speaker 172 converts the audio signal provided from the audio processing unit 17 into audio and outputs the audio to the outside of the terminal device 10.

[0035] The camera 160 is a device for receiving light with a light receiving element and outputting the received light as an image capturing signal.

[0036] The position information sensor 150 is a sensor that detects the position of the terminal device 10, and is, for example, a GPS module. The GPS module is a receiving device used in a satellite positioning system. In the satellite positioning system, signals are received from at least three or four satellites, and the current position of the terminal device 10 equipped with the GPS module is detected based on the received signals. The position information sensor 150 may detect the current position of the terminal device 10 from the position of the wireless base station to which the terminal device 10 is connected.

[0037] The storage unit 180 is realized by, for example, the memory 15 and the storage 16, and stores data and programs used by the terminal device 10. The storage unit 180 stores, for example, a correction value used when correcting information related to the orientation transmitted from the GNSS receiver 20.

[0038] The control unit 190 is realized by the processor 19 reading a program stored in the storage unit 180 and executing instructions included in the program. The control unit 190 controls the operation of the terminal device 10. The control unit 190 operates according to the program to fulfill the functions of an operation reception unit 191, a transmission / reception unit 192, a calculation unit 193, a calibration control unit 194, and a presentation control unit 195.

[0039] The operation reception unit 191 performs processing for receiving an instruction input from the input device 13. Specifically, for example, the operation reception unit 191 receives an instruction input from the touch-sensitive device 131 or the like.

[0040] Furthermore, the operation reception unit 191 receives voice instructions input from the microphone 171. Specifically, for example, the operation reception unit 191 receives a voice signal input from the microphone 171 and converted into a digital signal by the voice processing unit 17. For example, the operation reception unit 191 analyzes the received voice signal and extracts a predetermined noun, thereby acquiring an instruction from the user.

[0041] The transmission / reception unit 192 performs processing for the terminal device 10 to transmit and receive data to and from the GNSS receiver 20 in accordance with a communication protocol. Specifically, for example, the transmission / reception unit 192 transmits an instruction input by a user to the GNSS receiver 20. The transmission / reception unit 192 also receives information provided by the GNSS receiver 20. For example, the transmission / reception unit 192 receives data related to measurement transmitted from the GNSS receiver 20.

[0042] The calculation unit 193 calculates the coordinates of the position (grounding point) where the grounding unit 213 is in contact with the survey surface based on data related to the measurement transmitted from the GNSS receiver 20. Specifically, for example, the calculation unit 193 acquires the tilt and orientation measured by the GNSS receiver 20. The calculation unit 193 uses the correction value stored in the storage unit 180 to align the reference of the rotation matrix derived from the tilt and orientation to true north. The calculation unit 193 calculates the tilt correction amount in the horizontal direction and the vertical direction using a trigonometric function based on the height (shift amount) of the pole 21. The calculation unit 193 converts the coordinates measured by the position information sensor 205 into coordinates of ECEF (Earth Centered, Earth Fixed: Earth Centered, Earth Fixed Cartesian coordinate system) and adds the tilt correction amount to the converted coordinates to calculate the coordinates of the grounding point.

[0043] The calibration control unit 194 controls the calculation of a correction value taking true north into consideration, and the calibration of the tilt sensor 206 or the electronic compass 207. Specifically, for example, in the third mode, the calibration control unit 194 performs processing for calculating a correction value (offset value) taking true north into consideration based on data acquired by measurement by the GNSS receiver 20. Specifically, the calibration control unit 194 calculates a correction value taking true north into consideration based on data measured in the third mode, for example.

[0044] More specifically, the calibration control unit 194 acquires coordinates measured by the position information sensor 205 when the grounding portion 213 is fixed and the pole 21 is set up vertically. Furthermore, the calibration control unit 194 acquires coordinates measured by the position information sensor 205 at each position when the pole 21 is tilted in multiple directions. At this time, the positions from which the coordinates are acquired are not located on the same plane. The calibration control unit 194 converts the acquired coordinates into ECEF (Earth Centered, Earth Fixed: Earth Centered, Earth Fixed Cartesian coordinate system).

[0045] The calibration control unit 194 acquires the roll, pitch, and yaw (rotation matrix) with respect to magnetic north measured by the tilt sensor 206 and the electronic compass 207 at each position when the pole 21 is tilted in multiple directions. The calibration control unit 194 calculates the coordinates of a fixed point based on the coordinates of the ECEF acquired at four or more positions. At this time, the calibration control unit 194 calculates the coordinates of the fixed point based on the fact that the distance between the fixed point and each position is the same as the length of the pole 21. The calibration control unit 194 calculates the length of the pole 21 from the coordinates of the fixed point and the coordinates of each position.

[0046] The calibration control unit 194 calculates a reference rotation matrix based on the coordinates of a predetermined position, the coordinates of a fixed point, and the length of the pole 21. The reference rotation matrix represents roll, pitch, and yaw with respect to true north. The calibration control unit 194 sets the difference between the calculated reference rotation matrix and the rotation matrix obtained by measurement as a correction value (offset value). The calibration control unit 194 stores the calculated correction value in the storage unit 180.

[0047] When the length of the pole 21 is known, the calibration control unit 194 may determine whether the correction value has been calculated correctly based on the calculated length of the pole 21. Specifically, for example, the calibration control unit 194 may compare the preset length of the pole 21 with the calculated length of the pole 21, and if the difference does not satisfy a predetermined condition, may perform the process again starting from the operation of rotating the GNSS receiver 20 again. The calibration control unit 194 may also calculate the correction value multiple times, and store in the storage unit 180 the correction value calculated when the difference between the preset length of the pole 21 and the calculated length of the pole 21 is minimum.

[0048] Furthermore, when the length of the pole 21 is known, the calibration control unit 194 does not need to calculate the length of the pole 21. In the above, the coordinates of the fixed points are calculated based on the coordinates of the ECEF acquired at four or more positions, but when the length of the pole 21 is known, the number of coordinates used in the calculation may be reduced.

[0049] Furthermore, in the fourth mode, the calibration control unit 194 calibrates the tilt sensor 206 or the electronic compass 207. Specifically, the calibration control unit 194 acquires the states of the tilt sensor 206 and the electronic compass 207. Based on the acquired states, the calibration control unit 194 makes the user perform an operation related to the calibration, and calibrates the tilt sensor 206 and the electronic compass 207. Specifically, for example, the calibration control unit 194 makes the user perform an operation related to the calibration of the tilt sensor 206, and adjusts the tilt sensor 206 based on the operation performed by the user. Also, for example, the calibration control unit 194 makes the user perform an operation related to the calibration of the electronic compass 207, and adjusts the electronic compass 207 based on the operation performed by the user.

[0050] The presentation control unit 195 controls the output device 14 to present information related to the measurement to the user. Specifically, for example, the presentation control unit 195 causes the display 141 to display the positions of the grounding points measured in the first mode. The presentation control unit 195 may cause a corresponding map to be displayed, and the positions of the grounding points may be superimposed on the positions on the map where the coordinates match. Furthermore, the presentation control unit 195 causes the display 141 to display a line (trajectory) along which the grounding unit 213 has moved, based on the positions of the grounding points measured in the second mode. The presentation control unit 195 can set the display mode of the line in response to an instruction from the user. The line may be displayed with, for example, a predetermined color and thickness. Furthermore, the line does not have to be a solid line, and may be, for example, a broken line. The presentation control unit 195 may cause a corresponding map to be displayed, and the lines may be superimposed on the positions on the map where the position coordinates match.

[0051] The presentation control unit 195 may execute a predetermined smoothing algorithm when generating a line. For example, when the ground contact unit 213 is moved along the survey surface, discontinuous movement may occur due to an unexpected event. The presentation control unit 195 infers whether the calculated position coordinates are appropriate or not from the moving path of the ground contact unit 213. If the calculated position coordinates are not appropriate, the presentation control unit 195 deletes the position coordinates and generates a line. This enables the presentation control unit 195 to suppress disturbance of the line caused by the inclusion of outliers.

[0052] In addition, in the third mode, the presentation control unit 195 causes the display 141 to display information related to calculation of a correction value that takes true north into consideration. In addition, in the fourth mode, the presentation control unit 195 causes the display 141 to display information related to calibration of the tilt sensor 206 or the electronic compass 207.

[0053] <2 operations> The operation of the terminal device 10 when presenting the line along which the ground contact portion 213 has moved to the user will be described.

[0054] 4 is a schematic diagram showing an operation of the terminal device 10 according to the present embodiment to generate a line along which the ground point has moved. The user holds the pole 21 and moves the GNSS receiver 20 from P1 to P2 while keeping the ground part 213 in contact with the survey surface. The terminal device 10 calculates the position coordinates of the ground part 213 based on the measurement data measured by the GNSS receiver 20 each time the measurement data is measured. The terminal device 10 generates a line based on the calculated position coordinates.

[0055] FIG. 5 is a flowchart illustrating an example of an operation performed by the terminal device 10 when presenting a line to the user.

[0056] A user operating the terminal device 10 launches, for example, an application for measuring a terrain using the GNSS receiver 20. The application has a calibration mode (third mode) according to the present embodiment for calculating a correction value taking true north into consideration. Before measurement, the user operates the terminal device 10 and inputs an instruction to calculate a correction value in this calibration mode.

[0057] The terminal device 10 receives an instruction from a user to perform calibration on the terminal device 10 through the operation receiving unit 191. The terminal device 10 displays an image for guiding the measurement during calibration through the presentation control unit 195. Specifically, for example, the presentation control unit 195 causes the display 141 to display an image for guiding the user on the actions to be taken during the measurement during calibration.

[0058] The user refers to the image displayed on the display 141 and, for example, fixes the grounding portion 213 and sets the pole 21 vertically, or rotates the pole 21 while keeping the grounding portion 213 fixed. Note that instead of rotating the GNSS receiver 20, it is also possible to tilt it multiple times in a predetermined direction. The guide image displayed on the display 141 may be output as sound from the speaker 172.

[0059] The calibration control unit 194 acquires data at multiple positions measured by the GNSS receiver 20. The calibration control unit 194 calculates the coordinates of the fixed point and the length of the pole 21 based on the data at the multiple positions. The calibration control unit 194 calculates a correction value as a shift amount based on the coordinates of the multiple positions, the coordinates of the fixed point, and the length of the pole 21. The calibration control unit 194 stores the calculated correction value in the storage unit 180.

[0060] Once the correction values ​​are calculated, the user starts measuring the terrain using the GNSS receiver 20. In order to draw a line on the plan view, the user operates the terminal device 10 to switch to the second mode. The user operates the terminal device 10 and inputs an instruction to start drawing a line in the second mode.

[0061] In step S11, the terminal device 10 receives an instruction to start drawing. Specifically, the operation receiving unit 191 receives an instruction to start drawing a line from the user.

[0062] When an instruction to start drawing a line is input, the user grips the pole 21 and moves the GNSS receiver 20 while bringing the ground contact portion 213 into contact with the survey surface.

[0063] Fig. 6 is a schematic diagram when a user moves the GNSS receiver 20. For example, the user holds the pole 21 and moves the GNSS receiver 20 while bringing the grounding part 213 into contact with a predetermined object. In Fig. 6, a thick black line represents the trajectory of the grounding part 213 moved by the user. For example, the user moves the GNSS receiver 20 from P1, through P2 and P3, to P4.

[0064] In the second mode, the GNSS receiver 20 measures measurement data at a measurement period of, for example, about 10 times per second. The GNSS receiver 20 measures, for example, coordinates (longitude, latitude, ellipsoid height), inclination, and direction at the measurement period. The GNSS receiver 20 transmits the measurement data to the terminal device 10.

[0065] In step S12, the terminal device 10 acquires the measurement data transmitted from the GNSS receiver 20. Specifically, for example, the transmitter / receiver 192 acquires the coordinates, tilt, and orientation measured by the GNSS receiver 20.

[0066] In step S13, the terminal device 10 calculates the position coordinates of the grounding point. Specifically, for example, the calculation unit 193 acquires the tilt and orientation measured by the GNSS receiver 20. The calculation unit 193 uses the correction value stored in the storage unit 180 to align the reference of the rotation matrix derived from the tilt and orientation to true north. The calculation unit 193 calculates the tilt correction amounts in the horizontal and vertical directions using trigonometric functions based on the height (shift amount) of the pole 21. The calculation unit 193 converts the coordinates measured by the position information sensor 205 into ECEF coordinates and adds the tilt correction amount to the converted coordinates to calculate the coordinates of the grounding point.

[0067] In step S14, the terminal device 10 generates a line based on the position coordinates of the grounding point. Specifically, the presentation control unit 195 generates a line between, for example, the previously calculated position coordinates of the grounding point and the currently calculated position coordinates of the grounding point. The presentation control unit 195 may generate the line by implementing a predetermined smoothing algorithm and excluding outliers.

[0068] In step S15, the terminal device 10 presents the generated line to the user. Specifically, the presentation control unit 195 causes the display 141 to display the generated line based on the position coordinates of the grounding point. The presentation control unit 195 may also cause a corresponding map to be displayed, and the line may be superimposed on a position on the map that matches the position coordinates.

[0069] 7 to 9 are schematic diagrams showing examples of plan views displayed on the display 141. The presentation control unit 195 generates a line based on the calculated position coordinates, and displays the generated line on the display 141. In FIGS. 7 to 9, the presentation control unit 195 represents the generated line by a line 1411. The presentation control unit 195 displays the trajectory of the movement of the GNSS receiver 20 on the display 141 in real time in response to the movement of the GNSS receiver 20. Specifically, when the ground part 213 is moved from P1 to P2 along the object, the presentation control unit 195 draws a line from P1 to P2 as shown in FIG. 7. When the ground part 213 is further moved to P3 along the object, the presentation control unit 195 draws a line from P1 to P3 as shown in FIG. 8. When the ground part 213 is further moved to P4 along the object, the presentation control unit 195 draws a line from P1 to P4 as shown in FIG. 9.

[0070] 7 to 9, the presentation control unit 195 superimposes the line on the map, but the line does not have to be superimposed on the map. For example, the presentation control unit 195 may display only the line 1411 on the display 141 without superimposing the line on the map. Fig. 10 is a schematic diagram showing another example of a plan view displayed on the display 141.

[0071] The presentation control unit 195 may display a diagram other than a plan view on the display 141 in response to an instruction from the user. Specifically, for example, the presentation control unit 195 may display a cross-sectional view on the display 141. FIG. 11 is a schematic diagram showing an example of a cross-sectional view displayed on the display 141. In FIG. 11, the presentation control unit 195 represents the generated line by a line 1411. Also, for example, the presentation control unit 195 may display a three-dimensional drawing on the display 141.

[0072] In step S16, the terminal device 10 judges whether or not to end the line drawing. Specifically, for example, when the user ends the line drawing, the user operates the terminal device 10 and inputs an instruction to end the line drawing. The calculation unit 193 judges whether or not an instruction to end the line drawing has been input by the user, and ends the process if the instruction has been input (Yes in step S16). If the instruction to end the line drawing has not been input by the user (No in step S16), the calculation unit 193 shifts the process to step S12.

[0073] As described above, in the above embodiment, the transmitting / receiving unit 192 acquires measurement values ​​at a predetermined cycle from a GNSS (Global Navigation Satellite System) receiver installed at one end of a pole that is moved while the other end is in contact with the survey surface. The calculation unit 193 calculates position coordinates on the survey surface based on the measurement values ​​acquired at each predetermined cycle. When the position coordinates are calculated, the presentation control unit 195 generates a line between the point at which the position coordinates are calculated and the point at which the position coordinates were previously calculated. The presentation control unit 195 presents the generated line to the user. This allows the terminal device 10 to calculate the position coordinates of the grounding point on the survey surface in accordance with the movement of the GNSS receiver 20, and to display the trajectory of the movement of the grounding point to the user based on the calculated position coordinates.

[0074] Therefore, according to the program etc. according to this embodiment, drawings such as plan views or cross-sectional views can be easily created in real time.

[0075] In the above embodiment, the presentation control unit 195 presents a line by superimposing it on a map corresponding to the calculated position coordinates. This allows the user to easily draw a line on the map in real time.

[0076] In the above embodiment, the presentation control unit 195 presents lines on the floor plan, which allows the user to easily draw lines on the floor plan in real time.

[0077] In the above embodiment, the presentation control unit 195 presents lines on the cross-sectional view, which allows the user to easily draw lines on the cross-sectional view in real time.

[0078] <Modification> In the above embodiment, the measurement control unit 2093 has been described as measuring measurement data at a predetermined cycle in the second mode. The measurement control unit 2093 may not measure measurement data at a predetermined cycle in the second mode. For example, a straight line such as a white line on a road may be drawn. In this case, a more accurate straight line can be drawn by setting a start point and an end point and drawing a line between the start point and the end point, rather than moving the GNSS receiver 20 while keeping the grounding part 213 in contact with the survey surface and drawing a trajectory during the movement. Specifically, for example, when a measurement request is input from the user in the second mode for a grounding point as the start point of a straight line and a grounding point as the end point, the measurement control unit 2093 executes measurement of these grounding points. The calculation unit 193 calculates the position coordinates of the start point and the end point based on the acquired measurement data related to the start point and the end point. The presentation control unit 195 generates a line between the start point and the end point based on the calculated position coordinates. The presentation control unit 195 causes the display 141 to display the generated line.

[0079] Fig. 12 is a schematic diagram showing another example of the operation of the terminal device 10 to generate a line. In Fig. 12, the user inputs an instruction to request measurement when the grounding part 213 is grounded on P1 and when the grounding part 213 is grounded on P2. The terminal device 10 calculates the position coordinates of the two points based on the measurement data of the two points measured by the GNSS receiver 20. The terminal device 10 generates a line based on the calculated position coordinates. This makes it possible to easily draw accurate straight lines related to the terrain in real time.

[0080] In the above embodiment, the case where a line is drawn from the ground point has been described as an example. The presentation control unit 195 does not need to draw a line from the ground point. For example, for a given figure, it is possible to draw a more accurate figure by drawing the figure based on the ground point. Specifically, for example, in the second mode, when a measurement request for the ground point is input from the user, the measurement control unit 2093 executes the measurement of the ground point. At this time, the operation reception unit 191 receives input of a type of figure and a parameter related to the size of the figure from the user. For example, the operation reception unit 191 receives input of a "circle" as the type of figure and a parameter "radius: d" related to the size of the figure from the user. The calculation unit 193 calculates the position coordinates of the ground point based on the acquired measurement data. The presentation control unit 195 generates a circle with a radius: d centered on the calculated position coordinates. The presentation control unit 195 causes the display 141 to display the generated circle.

[0081] FIG. 13 is a schematic diagram showing another example of the operation of the terminal device 10 to generate a line. In FIG. 13, the user inputs an instruction to request measurement when the grounding part 213 is grounded on P3. At this time, the user inputs "circle" as the type of figure and a parameter "radius: d" related to the size of the figure to the terminal device 10. The terminal device 10 calculates the position coordinates of the grounding point based on the measurement data measured by the GNSS receiver 20. The terminal device 10 generates a circle with a radius of d centered on the calculated position coordinates. This makes it possible to accurately draw a circular object such as a manhole on a drawing.

[0082] In the above embodiment, the terminal device 10 calculates a correction value in consideration of true north in the third mode before measuring the measurement data by the GNSS receiver 20. The terminal device 10 may perform calibration of the tilt sensor 206 or the electronic compass 207 in the fourth mode without calculating the correction value in the third mode. The terminal device 10 may perform calibration of the tilt sensor 206 or the electronic compass 207 in the fourth mode after performing calibration of the tilt sensor 206 or the electronic compass 207 in the fourth mode.

[0083] In the above embodiment, the tip of the ground contact portion 213 is sharp. The tip of the ground contact portion 213 may be processed to make it easier to slide on the surface of an object. For example, a roller may be provided on the tip of the ground contact portion 213, making it possible to smoothly trace the surface of an object.

[0084] In the above embodiment, the case where the terminal device 10 displays a line based on the movement of the GNSS receiver 20 on the display 141 has been described as an example. The generated line is not limited to being displayed on the display 141. The terminal device 10 may output information about the generated line to an external device. The terminal device 10 may output information about the map on which the GNSS receiver 20 has been moved, together with information about the line, to the external device. The information may be output to the external device via wireless communication or may be output to a portable storage medium. The information about the line may be edited, for example, in the external device.

[0085] In the above embodiment, the terminal device 10 displays a line based on the movement of the GNSS receiver 20 on the display 141. The generated line may be edited on the display 141. In editing the line, the terminal device 10 displays, for example, calculated position coordinates together with the line, and accepts processing such as deleting position coordinates and changing position coordinates. The position coordinates displayed together with the line may be all calculated position coordinates, or may be a part of the calculated position coordinates.

[0086] <3 Basic computer hardware configuration> 14 is a block diagram showing the basic hardware configuration of a computer 90. The computer 90 includes at least a processor 91, a main storage device 92, an auxiliary storage device 93, and a communication IF (interface) 99. These are electrically connected to each other by a bus.

[0087] The processor 91 is hardware for executing an instruction set described in a program, and is composed of an arithmetic unit, a register, a peripheral circuit, and the like.

[0088] The main storage device 92 is for temporarily storing programs, data to be processed by the programs, etc. For example, it is a volatile memory such as a DRAM (Dynamic Random Access Memory).

[0089] The auxiliary storage device 93 is a storage device for saving data and programs, such as a flash memory, a hard disk drive (HDD), a magneto-optical disk, a CD-ROM, a DVD-ROM, or a semiconductor memory.

[0090] The communication IF 99 is an interface for inputting and outputting signals for communicating with other computers via a network using a wired or wireless communication standard. The network is composed of the Internet, a LAN, various mobile communication systems constructed by wireless base stations, etc. For example, the network includes 3G, 4G, 5G mobile communication systems, LTE (Long Term Evolution), wireless networks that can connect to the Internet via a specified access point (e.g., Wi-Fi (registered trademark)), etc. In the case of wireless connection, communication protocols include, for example, Z-Wave (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), etc. In the case of wired connection, the network also includes a network that is directly connected by a USB (Universal Serial Bus) cable or the like.

[0091] It should be noted that the computer 90 can be virtually realized by distributing all or part of each hardware configuration among multiple computers 90 and connecting them together via a network. In this way, the computer 90 is a concept that includes not only a computer 90 housed in a single housing or case, but also a virtualized computer system.

[0092] <4 Basic Functional Configuration of Computer 90> A description will now be given of the functional configuration of a computer realized by the basic hardware configuration of a computer 90 shown in Fig. 14. The computer includes at least the functional units of a control unit, a storage unit, and a communication unit.

[0093] The functional units of the computer 90 can also be realized by distributing all or part of the functional units among multiple computers 90 connected to each other via a network. The computer 90 is a concept that includes not only a single computer 90 but also a virtualized computer system.

[0094] The control unit is realized by the processor 91 reading out various programs stored in the auxiliary storage device 93, expanding the programs in the main storage device 92, and executing processes according to the programs. The control unit can realize functional units that perform various information processing depending on the type of program. In this way, the computer is realized as an information processing device that performs information processing.

[0095] The storage unit is realized by a main storage device 92 and an auxiliary storage device 93. The storage unit stores data, various programs, and various databases. Furthermore, the processor 91 can secure a storage area corresponding to the storage unit in the main storage device 92 or the auxiliary storage device 93 in accordance with a program. Furthermore, the control unit can cause the processor 91 to execute processes of adding, updating, and deleting data stored in the storage unit in accordance with the various programs.

[0096] A database refers to a relational database, which is used to manage data sets called tables, which are structured according to rows and columns, by relating them to each other. In a database, a table is called a table, a column in a table is called a column, and a row in a table is called a record. In a relational database, it is possible to set relationships between tables and associate them. Usually, a column is set in each table as a key for uniquely identifying a record, but setting a key in the column is not essential. The control unit can cause the processor 91 to add, delete, or update records in a specific table stored in the storage unit according to various programs.

[0097] The communication unit is realized by the communication IF 99. The communication unit realizes a function of communicating with other computers 90 via a network. The communication unit can receive information transmitted from other computers 90 and input the information to the control unit. The control unit can cause the processor 91 to execute information processing on the received information in accordance with various programs. In addition, the communication unit can transmit information output from the control unit to other computers 90.

[0098] Although several embodiments of the present disclosure have been described above, these embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and modifications are within the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention.

[0099] <Additional Notes> The matters described in the above embodiments will be supplemented below. (Appendix 1) A program to be executed by a computer having a processor and a memory, the program causing the processor to execute the following steps: acquiring measurement values ​​at a predetermined period from a GNSS (Global Navigation Satellite System) receiver installed at the other end of a pole that is moved while the other end is in contact with a survey surface; calculating position coordinates on the survey surface based on the measurement values ​​acquired at each predetermined period; once the position coordinates have been calculated, generating a line between the point for which the position coordinates have been calculated and the point for which the position coordinates were previously calculated; and presenting the generated line to a user. (Appendix 2) The program according to claim 1, wherein in the presenting step, the line is presented by being superimposed on a map corresponding to the calculated position coordinates. (Appendix 3) The program according to claim 1, wherein in the presenting step, a line is presented in a plan view. (Appendix 4) The program according to claim 1, wherein in the presenting step, a line is presented in a cross-sectional view. (Appendix 5) A program according to any one of (Appendix 1) to (Appendix 4), wherein in the generating step, the generated line is smoothed. (Appendix 6) A program described in any of (Appendix 1) to (Appendix 5), in which, in an acquiring step, one end of a pole is brought into contact with a point that is the start point of the line and a point that is the end point of the line to acquire measurement values, in a calculating step, the position coordinates of the two points are calculated based on the acquired measurement values, and in a generating step, a straight line is generated between the position coordinates of the two points. (Appendix 7) A program described in any one of (Appendix 1) to (Appendix 6), in which, in the acquiring step, one end of a pole is brought into contact with a point that is the center of the circle to acquire a measurement value, in the calculating step, the position coordinates of the point are calculated based on the acquired measurement value, and in the generating step, a circle of a specified radius is generated with the calculated position coordinates as its center. (Appendix 8) A program described in any one of (Appendix 1) to (Appendix 7) that causes a processor to execute a step of outputting information about the generated lines to an external device. (Appendix 9) A method implemented by a computer having a processor and a memory, wherein the processor executes all of the steps performed in any of the inventions according to (Appendix 1) to (Appendix 8). (Appendix 10) An information processing device comprising a control unit and a memory unit, wherein the control unit executes all of the steps executed in the invention according to any one of (Appendix 1) to (Appendix 8). (Appendix 11) A system comprising means for executing all the steps performed in any of the inventions according to (Appendix 1) to (Appendix 8). [Explanation of symbols]

[0100] 1. System 10...Terminal device 120…Communications Department 13...Input device 131...Touch-sensitive devices 14...Output device 15…Memory 16…Storage 19…Processor 20…GNSS receiver

Claims

1. A program for causing a computer having a processor and a memory to execute the program, the program causing the processor to: acquiring measurement values ​​at a predetermined interval from a Global Navigation Satellite System (GNSS) receiver installed at one end of a pole that is moved while being brought into contact with a survey surface; calculating position coordinates on the survey surface based on the measurement values ​​acquired at predetermined intervals; When the position coordinates are calculated, generating a line between the point whose position coordinates are calculated and a point whose position coordinates were previously calculated; presenting the generated line to a user; A program that executes the following.

2. 2. The program according to claim 1, wherein in the presenting step, the line is presented by being superimposed on a map corresponding to the calculated position coordinates.

3. 2. The program according to claim 1, wherein in said presenting step, said lines are presented in a plan view.

4. 2. The program of claim 1, wherein said presenting step presents said lines in a cross-sectional view.

5. 2. The program according to claim 1, wherein in said generating step, the generated lines are smoothed.

6. In the obtaining step, one end of the pole is brought into contact with a point that is a start point of the line and a point that is an end point of the line to obtain measurement values; In the calculating step, position coordinates of the two points are calculated based on the acquired measurement values; 2. The program according to claim 1, wherein in said generating step, a straight line is generated between the position coordinates of said two points.

7. In the obtaining step, one end of the pole is brought into contact with a point that is the center of the circle to obtain a measurement value; In the calculating step, a position coordinate of the point is calculated based on the acquired measurement value; 2. The program according to claim 1, wherein in said generating step, a circle having a predetermined radius and centered on said calculated position coordinates is generated.

8. 2. The program according to claim 1, further comprising a step of causing the processor to execute a step of outputting information about the generated lines to an external device.

9. A method implemented on a computer having a processor and a memory, the processor performing all of the steps performed in any one of claims 1 to 8.

10. 9. An information processing apparatus comprising a control unit and a storage unit, the control unit executing all steps executed in the invention according to any one of claims 1 to 8.

11. A system comprising means for executing all the steps performed in any one of claims 1 to 8.

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