Program, method, information processing device, and system

Abstract

To enable measurement data measured by a GNSS receiver to be corrected by taking true north into consideration in a terminal device for receiving the measurement data.SOLUTION: A program allows a computer including a processor and a memory to execute the program. The program makes the processor execute the steps of: installing a GNSS (Global Navigation Satellite System) receiver at one end of a pole, fixing the other end of the pole at a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver in tilting one end in a plurality of respectively different directions; acquiring a first rotation matrix measured by the GNSS receiver in tilting the one end in at least any of the plurality of directions; calculating a second rotation matrix to be a reference in tilting the one end in at least any of the plurality of directions on the basis of the plurality of coordinates; and calculating a correction value from difference between the second rotation matrix and the first rotation matrix.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] There exists a GNSS device incorporating an inclination sensor (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, compass calibration is described. However, in the compass calibration described in Patent Document 1, the compass is adjusted to align with magnetic north. However, Patent Document 1 does not take true north into consideration.

[0005] An object of the present disclosure is to make it possible to correct measurement data measured by a GNSS receiver in consideration of true north in a terminal device that receives the measurement data.

Means for Solving the Problems

[0006] A program for causing a computer including a processor and a memory to execute. The program causes the processor to perform the steps of installing a GNSS (Global Navigation Satellite System) receiver at one end of a pole, fixing the other end of the pole to a reference position, and obtaining a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; obtaining a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the plurality of directions; calculating a second rotation matrix serving as a reference when the one end is tilted in at least one of the plurality of directions based on the plurality of coordinates; and calculating a correction value from the difference between the second rotation matrix and the first rotation matrix.

Advantages of the Invention

[0007] According to the present disclosure, measurement data measured by a GNSS receiver can be corrected in a terminal device in consideration of true north.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

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

[0010] <Overview> The terminal device according to the present embodiment calculates a correction value for correcting the rotation matrix measured by the GNSS receiver in consideration of true north based on the coordinates and rotation matrix measured when the GNSS receivers are positioned in a plurality of directions.

[0011] <1 Configuration Diagram of the Whole System> FIG. 1 is a block diagram showing an example of the overall configuration of 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 by a predetermined wireless communication method, for example. 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 who positions terrain and the like using the 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 may be a stationary PC (Personal Computer) or a laptop PC. 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 input operations from a user (for example, a pointing device such as a touch panel, a touch pad, a mouse, etc., a keyboard, etc.). The output device 14 is a device for presenting information to the user (a display, a speaker, etc.).

[0014] The GNSS receiver 20 is a device that uses GNSS (Global Navigation Satellite System). In this embodiment, the case of using GPS (Global Positioning System) will be described as an example. The GNSS receiver 20 measures, for example, coordinates and a rotation matrix. The GNSS receiver 20 transmits data regarding the measured coordinates and rotation matrix to the terminal device 10 at a predetermined period.

[0015] The GNSS receiver 20 is attached to the pole 21. One end of the pole 21 is formed with a flat portion 211, and the other end is formed with a grounding portion 213. The flat portion 211 is installed perpendicular to the leg portion 212 of the pole 21. The GNSS receiver 20 is attached to approximately the center of the flat portion 211. Approximately the center of the flat portion 211 is located, for example, on the extension line of the axis of the leg portion 212 passing through the grounding portion 213. The length of the pole 21 is preferably such that it can compensate for the error of the position information sensor 205. The length of the pole 21 is, for example, 1 m or more.

[0016] <1.1 Configuration of GNSS Receiver> FIG. 2 is a block diagram showing a configuration example 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. Each block included in the GNSS receiver 20 is electrically connected by, for example, a bus or the like.

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

[0018] Also, the communication unit 201 performs reception processing on the signal received from the terminal device 10 and outputs it 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 transmits, 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 are, for example, a first mode, a second mode, and a third mode. The first mode is a mode in which measurement is performed by the position information sensor 205, the tilt sensor 206, and the electronic compass 207. The second mode is a mode for the terminal device 10 to calculate a correction value considering true north. The third 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 a user operating the GNSS receiver 20 to input an instruction. The input device 203 is realized by, for example, buttons or the like. The input device 203 converts an instruction input from the user into an electrical signal and outputs the electrical signal to the control unit 209. Note that the input device 203 may include a reception port for receiving an electrical signal input from an external input device, for example.

[0020] The output device 204 is a device for presenting information to the 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, etc. 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 from at least three or four satellites are received, and based on the received signals, the current position of the GNSS receiver 20 equipped with the GPS module is detected. 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, as coordinates, for example, (longitude, latitude, ellipsoidal height).

[0022] The tilt sensor 206 is a sensor that measures the tilt angle from the reference state. In the present embodiment, the tilt sensor 206 includes, for example, an acceleration sensor capable of measuring acceleration, and measures the tilt by measuring the gravitational acceleration. The tilt sensor 206 measures the tilt, for example, in response to 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 an azimuth sensor using a semiconductor, and detects the geomagnetism in the north-south direction to calculate the azimuth. Any known technology such as one using an MR element or one using a GMR element may be used.

[0024] The storage unit 208 is realized by, for example, a memory and a storage, etc., and stores data and programs used by the GNSS receiver 20. Further, the storage unit 208 stores data measured by, for example, 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 the program stored in the storage unit 208 and executing the instructions included in the program. The control unit 209 controls the operation of the GNSS receiver 20. By operating according to the program, the control unit 209 functions as an operation reception unit 2091, a transmission / reception unit 2092, a measurement control unit 2093, a switching control unit 2094, and a presentation control unit 2095.

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

[0027] The transmission / reception unit 2092 performs processing for the GNSS receiver 20 to transmit and receive data to and from the terminal device 10 according to a communication protocol. Specifically, for example, the transmission / reception unit 2092 transmits the coordinates measured by the position information sensor 205 to the terminal device 10. Also, the transmission / reception unit 2092 transmits the roll, pitch, and yaw (rotation matrix) with respect to magnetic north, calculated based on the data measured by the tilt sensor 206 and the electronic compass 207, to the terminal device 10. The roll, pitch, and yaw with respect to magnetic north may be equivalently described as, for example, the roll, pitch, and yaw with respect to the azimuth currently set as magnetic north. For example, the transmission / reception unit 2092 transmits the measured data to the terminal device 10 at a predetermined period. Also, the transmission / reception unit 2092 receives the information provided by the GNSS receiver 20.

[0028] The measurement control unit 2093 controls the measurements 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 measurements by the position information sensor 205, the tilt sensor 206, and the electronic compass 207 in a predetermined mode. More specifically, for example, the measurement control unit 2093 controls the position information sensor 205, the tilt sensor 206, and the electronic compass 207 in the first mode. Also, for example, the measurement control unit 2093 controls the position information sensor 205, the tilt sensor 206, and the electronic compass 207 in the second mode. Also, for example, the measurement control unit 2093 controls the tilt sensor 206 and the electronic compass 207 in the third mode.

[0029] The switching control unit 2094 controls the mode switching of the GNSS receiver 20. Specifically, for example, the switching control unit 2094 sets any one of the first mode, the second mode, and the third 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 input from the input device 203.

[0030] The presentation control unit 2095 presents information regarding the measurement to the user of the terminal device 10. Specifically, for example, the presentation control unit 2095 transmits information regarding the measurement in the first mode to the terminal device 10 via the communication unit 201 and causes the terminal device 10 to display the information. Also, for example, the presentation control unit 2095 transmits information regarding the measurement in the second mode to the terminal device 10 via the communication unit 201 and causes the terminal device 10 to display the information. Also, for example, the presentation control unit 2095 transmits information regarding the measurement in the third mode to the terminal device 10 via the communication unit 201 and causes the terminal device 10 to display the information.

[0031] Also, the presentation control unit 2095 controls the output device 204 in order to present information regarding the measurement to the user. Specifically, for example, the presentation control unit 2095 controls the output of the output device 204 so that the set mode is recognizable.

[0032] <1.2 Configuration of the Terminal Device> 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. Each block included in the terminal device 10 is electrically connected by, for example, a bus or the like.

[0033] The communication unit 120 performs processes such as modulation and demodulation 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 it to the GNSS receiver 20. The communication unit 120 performs reception processing on the signal received from the GNSS receiver 20 and outputs it to the control unit 190.

[0034] The input device 13 is a device for a user operating the terminal device 10 to input instructions or information. The input device 13 is realized by, for example, a touch-sensitive device 131 that inputs instructions by touching an operation surface. When 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 the instructions input by the 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 reception port that receives an electrical signal input from an external input device.

[0035] The output device 14 is a device for presenting information to the user operating the terminal device 10. The output device 14 is realized by, for example, a display 141. The display 141 displays information according to the control of the control unit 190. The display 141 is realized by, for example, an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display.

[0036] The audio processing unit 17 performs, for example, digital-to-analog conversion processing of an audio signal. The audio processing unit 17 converts the signal given from the microphone 171 into a digital signal and gives the converted signal to the control unit 190. Further, the audio processing unit 17 gives the audio signal to the speaker 172. The audio processing unit 17 is realized by, for example, a processor for audio processing. The microphone 171 receives an audio input and gives an audio signal corresponding to the audio input to the audio processing unit 17. The speaker 172 converts the audio signal given from the audio processing unit 17 into audio and outputs the audio to the outside of the terminal device 10.

[0037] The camera 160 is a device that receives light by a light receiving element and outputs it as a shooting signal.

[0038] 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 from at least three or four satellites are received, and based on the received signals, the current position of the terminal device 10 on which the GPS module is mounted is detected. The position information sensor 150 may detect the current position of the terminal device 10 from the position of the radio base station to which the terminal device 10 is connected.

[0039] The storage unit 180 is realized by, for example, the memory 15, the storage 16, etc., and stores data and programs used by the terminal device 10. The storage unit 180 stores, for example, correction information used when correcting information regarding the azimuth transmitted from the GNSS receiver 20.

[0040] The control unit 190 is realized by the processor 19 reading the program stored in the storage unit 180 and executing the instructions included in the program. The control unit 190 controls the operation of the terminal device 10. By operating according to the program, the control unit 190 functions as an operation reception unit 191, a transmission / reception unit 192, a first calculation unit 193, a second calculation unit 194, and a presentation control unit 195.

[0041] 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 a touch-sensitive device 131 or the like.

[0042] Also, the operation reception unit 191 receives a voice instruction input from the microphone 171. Specifically, for example, the operation reception unit 191 receives a voice signal that is input from the microphone 171 and converted into a digital signal by the voice processing unit 17. The operation reception unit 191 obtains an instruction from the user, for example, by analyzing the received voice signal and extracting a predetermined noun.

[0043] The transmission / reception unit 192 performs processing for the terminal device 10 to transmit and receive data in accordance with a communication protocol with the GNSS receiver 20. Specifically, for example, the transmission / reception unit 192 transmits an instruction input by the user to the GNSS receiver 20. Also, the transmission / reception unit 192 receives information provided by the GNSS receiver 20. For example, the transmission / reception unit 192 receives data related to measurement that is transmitted from the GNSS receiver 20 at a predetermined cycle.

[0044] The first calculation unit 193 performs processing for calculating a correction value (offset value) considering true north based on the data acquired by the measurement in the GNSS receiver 20. Specifically, the first calculation unit 193 calculates a correction value considering true north based on the data measured in the second mode, for example.

[0045] More specifically, the first calculation unit 193 fixes the grounding unit 213 and acquires the coordinates measured by the position information sensor 205 when the pole 21 is vertically erected. Also, the first calculation unit 193 acquires the coordinates measured by the position information sensor 205 at each position when the pole 21 is tilted in a plurality of directions. At this time, the positions for acquiring the coordinates are not located on the same plane. The first calculation unit 193 converts the acquired coordinates into ECEF (Earth Centered, Earth Fixed: Earth-centered, Earth-fixed orthogonal coordinate system).

[0046] When the pole 21 is tilted in a plurality of directions, the first calculation unit 193 acquires the roll, pitch, and yaw (rotation matrix) with respect to magnetic north, which are measured by the tilt sensor 206 and the electronic compass 207 at each position.

[0047] The first calculation unit 193 calculates the coordinates of a fixed point based on the ECEF coordinates acquired at four or more positions. At this time, the first calculation unit 193 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 first calculation unit 193 calculates the length of the pole 21 from the coordinates of the fixed point and the coordinates of each position.

[0048] The first calculation unit 193 calculates a reference rotation matrix based on the coordinates of a predetermined position, the coordinates of the fixed point, and the length of the pole 21. The reference rotation matrix represents the roll, pitch, and yaw with respect to true north.

[0049] The first calculation unit 193 uses the difference between the calculated reference rotation matrix and the rotation matrix obtained by measurement as a correction value (offset value). The first calculation unit 193 stores the calculated correction value in the storage unit 180.

[0050] When the length of the pole 21 is known, the first calculation unit 193 may determine whether the correction value is correctly calculated based on the calculated length of the pole 21. Specifically, for example, the first calculation unit 193 compares 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, the operation of rotating the GNSS receiver 20 again may be restarted.

[0051] Also, the first calculation unit 193 may perform the calculation of the correction value a plurality of times, and store the correction value calculated when the difference between the preset length of the pole 21 and the calculated length of the pole 21 becomes the minimum in the storage unit 180.

[0052] Also, when the length of the pole 21 is known, the first calculation unit 193 may not calculate the length of the pole 21. In the above, the coordinates of the fixed point were calculated based on the ECEF coordinates acquired at four or more positions. However, when the length of the pole 21 is known, the number of coordinates used for the calculation may be reduced.

[0053] The second calculation unit 194 calculates the coordinates of the position (ground contact point) grounded by the ground contact portion 213 based on the coordinates detected by the position information sensor 205. Specifically, for example, the second calculation unit 194 acquires the roll, pitch, and yaw (rotation matrix) measured by the GNSS receiver 20. The second calculation unit 194 uses the correction value stored in the storage unit 180 to align the reference of the roll, pitch, and yaw (rotation matrix) with true north. The second calculation unit 194 calculates the inclination correction amounts in the horizontal and vertical directions using trigonometric functions based on the height (shift amount) of the pole 21. The second calculation unit 194 calculates the coordinates of the ground contact point by adding the inclination correction amounts to the coordinates detected by the position information sensor 205.

[0054] The presentation control unit 195 controls the output device 14 in order to present information regarding the measurement to the user. Specifically, for example, the presentation control unit 195 causes the display 141 to display information regarding the measurement in the first mode. Also, the presentation control unit 195 causes the display 141 to display information regarding the measurement in the second mode. Also, the presentation control unit 195 causes the display 141 to display information regarding the measurement in the third mode.

[0055] <2 Operation> The operation of the terminal device 10 when calculating the correction value considering true north will be described.

[0056] FIG. 4 is a schematic diagram showing the operation of the terminal device 10 according to the present embodiment for calculating the correction value. The terminal device 10 calculates a correction value considering true north based on the data measured at positions where the GNSS receiver 20 is tilted in a plurality of directions, and stores the calculated correction value in the storage unit 180.

[0057] FIG. 5 is a flowchart showing an example of the operation when the terminal device 10 calculates a correction value.

[0058] A user who operates the terminal device 10, for example, launches an application for measuring the terrain using the GNSS receiver 20. This application has a calibration mode for calculating a correction value considering true north according to the present embodiment. The user operates the terminal device 10 and instructs the calculation of the correction value in this calibration mode.

[0059] In step S11, the terminal device 10 receives an instruction from the user to perform calibration in the terminal device 10. Specifically, for example, the control unit 190 of the terminal device 10 receives an instruction to perform calibration in the terminal device 10 through the operation reception unit 191.

[0060] In step S12, the terminal device 10 displays an image for guiding the measurement during calibration. Specifically, for example, the control unit 190 causes the presentation control unit 195 to display on the display 141 the operation that the user should perform during calibration.

[0061] FIG. 6 is a schematic diagram showing an example of the guide display displayed on the terminal device 10. In the example shown in FIG. 6, a window 1411 and a region 1412 are displayed. The window 1411 describes in words the operation that the user should perform. The region 1412 is a region that represents in an image the operation that the user should perform. The user refers to the image displayed in the region 1412, fixes the grounding part 213, stands the pole 21 vertically, or rotates the pole 21 while fixing the grounding part 213. The characters displayed in the window 1411 may be output as sound from the speaker 172.

[0062] FIG. 7 is a schematic diagram showing another example of the guidance display shown on the terminal device 10. In the example shown in FIG. 7, instead of rotating the GNSS receiver 20, it is tilted a plurality of times in a predetermined direction. The user refers to the image displayed on the display 141, fixes the grounding portion 213, stands the pole 21 vertically, or tilts the pole 21 in the direction of the instruction while fixing the grounding portion 213. The characters displayed in the window 1411 may be output as audio from the speaker 172.

[0063] In step S13, the terminal device 10 acquires the data measured by the GNSS receiver 20. Specifically, for example, the control unit 190 acquires the coordinates and the rotation matrix measured by the GNSS receiver 20 at each position through the transmission / reception unit 192. The first calculation unit 193 converts the coordinates measured by the GNSS receiver 20 into ECEF. In this description, for example, it is assumed that the following data is acquired. Note that the direction of the pole 21 may be a general direction. P1: Coordinates in the ECEF coordinate system when the pole 21 is stood in a substantially vertical direction P2: Coordinates in the ECEF coordinate system when the pole 21 is tilted in a substantially north direction P3: Coordinates in the ECEF coordinate system when the pole 21 is tilted in a substantially southwest direction P4: Coordinates in the ECEF coordinate system when the pole 21 is tilted in a substantially southeast direction α1: Rotation matrix when the pole 21 is stood in a substantially vertical direction α2: Rotation matrix when the pole 21 is tilted in a substantially north direction α3: Rotation matrix when the pole 21 is tilted in a substantially southwest direction α4: Rotation matrix when the pole 21 is tilted in a substantially southeast direction

[0064] In step S14, the terminal device 10 calculates the coordinates of the fixed point. Specifically, for example, the control unit 190 calculates the coordinates of the fixed point based on P1 to P4 through the first calculation unit 193. The first calculation unit 193 calculates the coordinates P0 of the fixed point based on the following formula, for example, when the length of the pole 21 is L. L = |P1 - P0| L = |P2 - P0| L = |P3 - P0| L = |P4 - P0|

[0065] In step S15, the first calculation unit 193 calculates the length of the pole 21. Specifically, the first calculation unit 193 calculates the length L based on the above formula. The first calculation unit 193 may calculate the length L by any one of the formulas, or may calculate the length L based on a plurality of lengths L. The first calculation unit 193 may, for example, adopt a statistical method for a plurality of lengths L to calculate L.

[0066] In step S16, the first calculation unit 193 calculates a correction value considering true north. Specifically, the first calculation unit 193 calculates a rotation matrix βn serving as a reference at position n based on the following formula, based on the coordinates Pn of position n, the coordinates P0 of the fixed point, and the length L of the pole 21. Note that n represents the nth measurement position. Pn + Lβn = P0 βn = 1 / L(Pn)

[0067] The first calculation unit 193 calculates a correction value γ as a shift amount from the difference between the calculated rotation matrix βn and the rotation matrix αn measured at position n. The first calculation unit 193 stores the calculated correction value γ in the storage unit 180.

[0068] When the length of the pole 21 is known, the first calculation unit 193 may determine whether the correction value is correctly calculated based on the calculated length of the pole 21. Specifically, for example, the first calculation unit 193 compares 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, for example, if the difference is not within a predetermined range, the process is shifted to step S12. In step S12, the presentation control unit 195 causes the display 141 to display the operations that the user should perform in the measurement during calibration.

[0069] FIG. 8 is a schematic diagram showing an example of a guide display displayed on the terminal device 10. In the example shown in FIG. 8, a window 1411 and a region 1412 are displayed. The window 1411 describes in words the operation to be taken by the user. The region 1412 is a region that represents in an image the operation to be taken by the user. The user refers to the image displayed in the region 1412, fixes the grounding portion 213, and repeats once again the operation of standing the pole 21 vertically or rotating the pole 21 while fixing the grounding portion 213. The characters displayed in the window 1411 may be output as sound from the speaker 172.

[0070] As described above, in the above embodiment, the control unit 190 of the terminal device 10 causes the first calculation unit 193 to install the GNSS receiver 20 at one end of the pole 21, fix the other end of the pole 21 to the reference position, and obtain a plurality of coordinates when the one end is tilted in a plurality of different directions. The first calculation unit 193 obtains a first rotation matrix when the one end is tilted in the first direction. The first calculation unit 193 calculates a second rotation matrix serving as a reference when the one end is tilted in the first direction based on the plurality of coordinates. The first calculation unit 193 calculates a correction value from the difference between the second rotation matrix and the first rotation matrix. Thereby, the first calculation unit 193 can calculate with high precision a correction value for correcting the rotation matrix measured by the GNSS receiver 20 without obtaining true north. For this reason, the first calculation unit 193 can calculate the correction value of the rotation matrix measured by the GNSS receiver 20 with a simple operation.

[0071] Therefore, according to the terminal device 10 related to the present embodiment, the measurement data measured by the GNSS receiver 20 can be corrected in consideration of true north in the terminal device that receives the measurement data.

[0072] In addition, in the above embodiment, the first calculation unit 193 calculates the length of the pole 21 based on a plurality of coordinates. It is proposed that when the difference between the calculated length of the pole 21 and the actual length of the pole 21 does not satisfy a predetermined condition, the correction value is acquired again. Thereby, when there is a possibility that the error included in the correction value is large, the first calculation unit 193 can recalculate the correction value, and can calculate an accurate correction value.

[0073] In addition, in the above embodiment, the first calculation unit 193 calculates the length of the pole 21 based on a plurality of coordinates. The first calculation unit 193 calculates the correction value multiple times by performing an operation of tilting one end of the pole 21 in a plurality of directions. The first calculation unit 193 adopts the correction value calculated when the difference between the length of the pole 21 when the correction value is calculated and the actual length of the pole 21 is the smallest. Thereby, the first calculation unit 193 can adopt the accurately calculated correction value.

[0074] In addition, in the above embodiment, the first calculation unit 193 acquires a plurality of coordinates when moving one end of the pole 21 so as to draw a circle. Thereby, the first calculation unit 193 can calculate the correction value only by moving the pole 21 so as to draw a circle without grasping true north.

[0075] In addition, in the above embodiment, the first calculation unit 193 acquires coordinates in a state where the pole 21 is vertically erected and in a state where the inclination directions of the pole 21 are different by approximately 120 degrees from each other. Thereby, the first calculation unit 193 can calculate the correction value only by moving the pole 21 in a predetermined direction without grasping true north.

[0076] In addition, in the above embodiment, the pole 21 has a length equal to or greater than a predetermined length. Thereby, even when there is an error in the position information sensor 205, the first calculation unit 193 can calculate a highly reliable correction value.

[0077] <Modification example> In the above-described embodiment, the presentation control unit 195 may present the calculated length of the pole 21 to the user. If the user feels uncomfortable with the calculated length, the user may execute the calibration again.

[0078] <3 Basic Hardware Configuration of a Computer> FIG. 9 is a block diagram showing the basic hardware configuration of a computer 90. The computer 90 includes at least a processor 91, a main memory device 92, an auxiliary storage device 93, and a communication IF 99 (Interface). These are electrically connected to each other by a bus.

[0079] The processor 91 is hardware for executing an instruction set described in a program. The processor 91 is composed of an arithmetic unit, registers, peripheral circuits, and the like.

[0080] The main memory device 92 is for temporarily storing a program and data processed by the program and the like. For example, it is a volatile memory such as a DRAM (Dynamic Random Access Memory).

[0081] The auxiliary storage device 93 is a storage device for storing data and programs. For example, it is a flash memory, an HDD (Hard Disc Drive), a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

[0082] The communication IF 99 is an interface for inputting and outputting signals for communicating with another computer via a network using a wired or wireless communication standard. The network is composed of various mobile communication systems constructed by the Internet, LAN, wireless base stations, etc. For example, the network includes 3G, 4G, 5G mobile communication systems, LTE (Long Term Evolution), a wireless network (e.g., Wi-Fi (registered trademark)) that can be connected to the Internet by a predetermined access point, etc. When connecting wirelessly, communication protocols such as Z-Wave (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), etc. are included. When connecting by wire, the network also includes those directly connected by a USB (Universal Serial Bus) cable, etc.

[0083] Note that all or part of each hardware configuration can be provided in a distributed manner across a plurality of computers 90 and connected to each other via a network to virtually realize the computer 90. In this way, the computer 90 is a concept that includes not only a single housing or a computer 90 housed in a case but also a virtualized computer system.

[0084] <Basic Functional Configuration of Computer 90> The functional configuration of the computer realized by the basic hardware configuration of the computer 90 shown in FIG. 9 will be described. The computer includes at least functional units of a control unit, a storage unit, and a communication unit.

[0085] Note that the functional units included in the computer 90 can also be realized by providing all or part of each functional unit in a distributed manner across a plurality of computers 90 interconnected by a network. The computer 90 is a concept that includes not only a single computer 90 but also a virtualized computer system.

[0086] The control unit is realized by the processor 91 reading out various programs stored in the auxiliary storage device 93 and expanding them in the main storage device 92, and executing processing according to the programs. The control unit can realize functional units that perform various information processes according to the types of programs. Thereby, the computer is realized as an information processing device that performs information processing.

[0087] The storage unit is realized by the main storage device 92 and the auxiliary storage device 93. The storage unit stores data, various programs, and various databases. Also, 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 according to the program. Further, the control unit can cause the processor 91 to execute addition, update, and deletion processing of the data stored in the storage unit according to various programs.

[0088] The database refers to a relational database and is for managing a set of data called a table, which is structurally defined by rows and columns, in association with each other. In a database, a table is called a table, a column of a table is called a column, and a row of a table is called a record. In a relational database, relationships between tables can be set and associated. Normally, each table is set with a column that serves as a key for uniquely identifying a record, but setting a key for a column is not essential. The control unit can cause the processor 91 to execute addition, deletion, and update of records in a specific table stored in the storage unit according to various programs.

[0089] The communication unit is realized by the communication IF 99. The communication unit realizes a function of communicating with another computer 90 via a network. The communication unit can receive information transmitted from another computer 90 and input it to the control unit. The control unit can cause the processor 91 to execute information processing on the received information according to various programs. Also, the communication unit can transmit the information output from the control unit to another computer 90.

[0090] As described above, some embodiments of the present disclosure have been explained. However, these embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are to be included in the scope and gist of the invention, and are also to be included in the invention described in the claims and the equivalent scope thereof.

[0091] <Supplementary Note> The matters described in each of the above embodiments are appended below. (Supplementary Note 1) A program for causing a computer including a processor and a memory to execute. The program causes the processor to install a GNSS (Global Navigation Satellite System) receiver at one end of a pole, fix the other end of the pole at a reference position, and when tilting one end in a plurality of different directions, acquire a plurality of coordinates measured by the GNSS receiver; when tilting one end in at least any one of a plurality of directions, acquire a first rotation matrix measured by the GNSS receiver; calculate a second rotation matrix serving as a reference when tilting one end in at least any one of a plurality of directions based on the plurality of coordinates; and calculate a correction value from the difference between the second rotation matrix and the first rotation matrix. A program for execution. (Supplementary Note 2) A program according to (Supplementary Note 1) that causes the processor to execute a step of calculating the length of the pole based on a plurality of coordinates, and a step of proposing to re-acquire a correction value when the difference between the calculated length of the pole and the actual length of the pole does not satisfy a predetermined condition. (Supplementary Note 3) A program according to (Supplementary Note 1) that causes the processor to execute a step of calculating the length of the pole based on a plurality of coordinates, and a step of calculating the correction value multiple times by performing an operation of tilting one end of the pole in a plurality of directions, and adopting the correction value calculated when the difference between the length of the pole when the correction value is calculated and the actual length of the pole is the smallest. (Supplementary Note 4) In the step of obtaining coordinates, a program as described in (Appendix 1) that obtains a plurality of coordinates when one end is moved to draw a circle. (Appendix 5) In the step of obtaining coordinates, a program as described in (Appendix 1) that obtains coordinates in a state where the pole is vertically erected and in states where the inclination directions of the pole differ by approximately 120 degrees from each other. (Appendix 6) A program as described in (Appendix 1) where the pole has a length equal to or greater than a predetermined length. (Appendix 7) A program for causing a computer including a processor and a memory to execute. The program causes the processor to install a GNSS receiver at one end of a pole, fix the other end of the pole at a reference position, obtain a plurality of coordinates measured by the GNSS receiver when one end is tilted in a plurality of different directions, obtain a rotation matrix measured by the GNSS receiver when one end is tilted in at least one of a plurality of directions, and calculate a correction value of the rotation matrix considering true north based on the plurality of coordinates and the rotation matrix. (Appendix 8) A method executed by a computer including a processor and a memory. The processor installs a GNSS receiver at one end of a pole, fixes the other end of the pole at a reference position, obtains a plurality of coordinates measured by the GNSS receiver when one end is tilted in a plurality of different directions, obtains a first rotation matrix measured by the GNSS receiver when one end is tilted in at least one of a plurality of directions, calculates a second rotation matrix serving as a reference when one end is tilted in at least one of a plurality of directions based on the plurality of coordinates, and calculates a correction value from the difference between the second rotation matrix and the first rotation matrix. (Appendix 9) An information processing apparatus including a control unit and a storage unit, wherein the control unit installs a GNSS receiver at one end of a pole, fixes the other end of the pole to a reference position, and acquires a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; acquires a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least any one of the plurality of directions; calculates a second rotation matrix serving as a reference when the one end is tilted in at least any one of the plurality of directions based on the plurality of coordinates; and calculates a correction value from the difference between the second rotation matrix and the first rotation matrix. (Appendix 10) A system including a GNSS receiver and an information processing apparatus, wherein the information processing apparatus includes means for installing a GNSS receiver at one end of a pole, fixing the other end of the pole to a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; means for acquiring a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least any one of the plurality of directions; means for calculating a second rotation matrix serving as a reference when the one end is tilted in at least any one of the plurality of directions based on the plurality of coordinates; and means for calculating a correction value from the difference between the second rotation matrix and the first rotation matrix.

Explanation of Signs

[0092] 1…System 10…Terminal device 120…Communication unit 13…Input device 131…Touch-sensitive device 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: A step of installing a GNSS (Global Navigation Satellite System) receiver on one end of a pole, fixing the other end of the pole at a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; Obtaining a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; calculating a second rotation matrix serving as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; calculating a correction value from a difference between the second rotation matrix and the first rotation matrix; A program that executes the following.

2. Calculating a length of the pole based on the plurality of coordinates; If the difference between the calculated pole length and the actual pole length does not satisfy a predetermined condition, suggesting to obtain a correction value again. The program according to claim 1 , which causes the processor to execute the steps:

3. Calculating a length of the pole based on the plurality of coordinates; calculating the correction value a plurality of times by performing an action of tilting one end of the pole in a plurality of directions, and adopting the correction value calculated when the difference between the length of the pole when the correction value was calculated and the actual length of the pole is the smallest; The program according to claim 1 , which causes the processor to execute the steps:

4. 2. The program according to claim 1, wherein in the step of acquiring the coordinates, a plurality of coordinates are acquired when the one end is moved in a circular motion.

5. 2. The program according to claim 1, wherein the step of acquiring coordinates acquires coordinates when the pole is held upright and when the inclination directions of the pole differ by approximately 120 degrees.

6. 2. The program of claim 1, wherein the pole is equal to or greater than a predetermined length.

7. A program for causing a computer having a processor and a memory to execute the program, the program causing the processor to: A step of installing a GNSS (Global Navigation Satellite System) receiver on one end of a pole, fixing the other end of the pole at a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; Obtaining a rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; calculating a correction value of the rotation matrix, taking true north into consideration, based on the plurality of coordinates and the rotation matrix; A program that executes the following.

8. 1. A computer-implemented method comprising a processor and a memory, the processor comprising: A step of installing a GNSS (Global Navigation Satellite System) receiver on one end of a pole, fixing the other end of the pole at a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; Obtaining a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; calculating a second rotation matrix serving as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; calculating a correction value from a difference between the second rotation matrix and the first rotation matrix; How to do it.

9. An information processing device including a control unit and a storage unit, A step of installing a GNSS (Global Navigation Satellite System) receiver on one end of a pole, fixing the other end of the pole at a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; Obtaining a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; calculating a second rotation matrix serving as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; calculating a correction value from a difference between the second rotation matrix and the first rotation matrix; An information processing device that executes the above.

10. A system including a Global Navigation Satellite System (GNSS) receiver and an information processing device, A means for acquiring a plurality of coordinates measured by the GNSS receiver when the GNSS receiver is installed at one end of a pole, the other end of the pole is fixed at a reference position, and the one end is tilted in a plurality of different directions; A means for acquiring a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; means for calculating a second rotation matrix serving as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; means for calculating a correction value from a difference between the second rotation matrix and the first rotation matrix; A system comprising:

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