Survey point survey RTK system

Abstract

To provide a survey point survey RTK system capable of saving labor for searching a survey reference point and surveying work, and calculating an error of the found survey reference point with high accuracy.SOLUTION: An RTK measurement and investigation server 300 including an RTK module 310, a database server 330 and an RTK coordinate transformation and analysis apparatus 340, and an RTK measurement and investigation device 200 including an RTK module 210, a GNSS antenna horizontal adjustment mechanism 220, a laser emission mechanism 230, a target direction guiding light mechanism 240 and a display 290, wherein four points are selected from measurement reference point coordinate information and an RTK positioning result as correction reference points; Correction values of a rotation angle, parallel movement, and a scale with the smallest error between survey reference point coordinate information and an RTK positioning result are derived, a survey reference point where a survey mark is not found is extracted from the survey reference point coordinate information and the RTK positioning result, and corrected coordinates obtained by correcting the survey reference point by the correction values are displayed on map data by a display 290 of an RTK survey investigation apparatus 200.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a survey point inspection RTK system for automating the re-survey and error detection of installed survey points. [Background technology]

[0002] Block control points, etc., which are determined through surveys by the national or local government and installed on roads, are recorded by measuring the X and Y distances from the survey base point. In recent years, in addition to measuring the X and Y distances from the survey base point using the metric system, GNSS (Global Navigation Satellite System) satellites have also been used to measure and record the X and Y distances from the survey base point. Records measured using these methods are made publicly available as coordinate information for survey control points.

[0003] At the above-mentioned reference points, surveying markers for visual confirmation, primarily metal tacks or granite blocks, are driven into the ground, and these serve as markers for reconfirming the reference points. However, one problem with metal tacks driven into roads and other areas is that they can sometimes be difficult to find where they were originally installed. This can occur when the original address records are unclear, when an address is changed after the survey, when the surveying marker is obscured by sediment runoff from the land nearby or weed growth, making it difficult to find when re-surveying, or when the metal tack is displaced or lost due to crustal movement or other factors.

[0004] In cases like the above, methods for rediscovering survey control points such as metal studs include, for example, performing optical surveying using centimeter coordinates at the time of surveying, or using point positioning or relative positioning that uses coordinates obtained from GNSS satellites (GNSS coordinates).In particular, because survey control points are often installed in the center of roads or on the boundaries of city blocks, it is necessary to measure with high precision the angle and direction of deviation from the original position of a survey control point rediscovered using the above methods.

[0005] When searching for and rediscovering a survey reference point, it is preferable to use highly accurate surveying equipment that can be operated by as few people as possible, preferably a single worker. However, the above-mentioned optical surveying method requires at least two workers, leaving issues in terms of securing workers and workability. On the other hand, with the stand-alone positioning method using GNSS satellites, the positioning accuracy varies by approximately 10 meters depending on the GNSS satellite positioning situation in the sky, so accurate results may not be obtained with a single positioning. Furthermore, with the relative positioning method using GNSS satellites, it is necessary to install two or more receivers at a certain distance apart, which, as mentioned above, leaves issues in terms of securing workers and workability.

[0006] In recent years, RTK (Real Time Kinematics) positioning has become widespread, and by using four or more GNSS satellites, it is now possible to confirm survey reference points with an error of within a few centimeters. Furthermore, methods using RTK positioning have the advantage of requiring only a receiver and a communication device, meaning that they can be operated by a single operator. By combining the results of this RTK positioning with millimeter coordinates and correcting the accuracy, it is possible to confirm the position of the survey point with high precision and reduce the labor required for search work. Furthermore, by comparing the results with survey points established using conventional methods, it is possible to detect errors in the location information and confirm the accuracy.

[0007] Examples of prior art that utilizes RTK positioning include Patent Documents 1 to 3 described below. Patent Document 1 discloses a system for surveying pile center positions, including a base station that provides RTK correction information, a survey robot that stores blueprint data containing multiple reference points, and a means for RTK positioning of its own position via the base station. In the system described in Patent Document 1, the survey robot performs RTK positioning of reference points indicated in the blueprint data, converts the pile center coordinates in the blueprint data to an RTK coordinate system based on the coordinates of the measured reference points, and then travels to the converted pile center coordinates, after which it performs error correction using an XY plotter. Patent Document 1 also describes a configuration in which a pile center determined using a conventional method, overlaid with a dedicated marker, is photographed using a 3D imaging device, the pile center position is detected using image recognition, and the error from the pile center coordinates is calculated.

[0008] Patent Document 2 discloses a robot system for traveling on outdoor ground at a construction site, comprising a base station that provides RTK positioning accuracy and a traveling robot. In the robot system described in Patent Document 2, the traveling robot measures a straight-line distance from the difference between the RTK coordinates of its own position, obtained by positioning using a mechanism that determines its own position, and the RTK coordinates of a destination point, obtained by converting the distance between the coordinates of the site reference point and the destination point into an RTK distance. Based on the results of a travel feasibility determination performed on 3D obstacle information, the system creates route information that provides a detour route to avoid non-travelable points along the straight-line distance. Patent Document 2 also describes a configuration in which the route information includes ground conditions and estimated speed information corresponding to the ground conditions. During autonomous travel, the traveling robot calculates its speed at its own position based on the route information, compares it with the estimated speed at a position corresponding to its own position in the estimated speed information, determines whether to stop, determine whether to re-create a detour route, and arrives at the destination point determined by RTK positioning.

[0009] Patent Document 3 discloses a method for marking pile center positions that can easily and accurately mark pile center positions, and includes the following steps. Specifically, Patent Document 3 includes the steps of: loading information on the design driving positions of multiple piles into an information terminal 50; and transmitting information based on a signal received by an antenna 22 in a mobile station 20 including a pole 21, an antenna 22, and a receiver 23 from the receiver 23 to a correction information generating device 40 via the information terminal 50. Patent Document 3 further includes the steps of transmitting position information of the pole 21 based on RTK technology generated by the correction information generating device 40 to the information terminal 50; displaying the relative positional relationship between a specific driving position and the position of the pole 21 on a display unit 51 of the information terminal 50; and identifying the position of the pole 21 on the mobile station 20 at the site when the position of the pole 21 on the display unit 51 matches the specific driving position as the marked position. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Patent No. 7217483 [Patent Document 2] Patent No. 7274137 [Patent Document 3] Japanese Patent Application Publication No. 2024-013366 Summary of the Invention [Problem to be solved by the invention]

[0011] Among the above methods, electro-optical surveying is generally the most widely used in surveying work due to its simple equipment configuration and its established status as a course of study in construction departments at construction-related vocational schools and universities. In this type of electro-optical surveying method, distances are measured using surveying equipment installed at two points: the reference point and the target of measurement. However, if there are obstacles between these points, the survey must be conducted sequentially to avoid the obstacles, for example, from the reference point to the previous survey point, the current survey point, and the next survey point. However, surveying using this method requires a large number of surveys, which can lead to accumulated errors. Minimizing such surveying errors requires highly skilled workers, which can sometimes create problems, such as finding skilled workers.

[0012] RTK positioning also includes a high-precision fixed solution calculated when the RTK antenna receives the signal from the GNSS satellite directly without it being reflected by buildings, etc., and a low-precision float solution calculated based on the signal from the GNSS satellite reflected by buildings, etc. and received by the RTK antenna. For this reason, when RTK surveying of a survey reference point is performed, there may be many float solutions depending on the relationship between the height of surrounding buildings and the positioning of GNSS satellites, which can cause variations in positioning accuracy, resulting in measurement results that differ from the survey reference point coordinate information.

[0013] The present invention has been made in consideration of the above problems, and aims to provide a survey point investigation RTK system that can reduce the labor required for searching for and surveying survey control points, which are surveying markers installed on the ground, and that can calculate with high accuracy the error between the coordinates of the discovered survey control points and those registered in local government information, etc. [Means for solving the problem]

[0014] To solve the above problems, the inventors conducted extensive research. As a result, they discovered that when searching for the location of a survey reference point installed on the ground based on survey reference point coordinate information, the GNSS coordinate information included in the survey reference point coordinate information is first used as a target point to be reached, and the RTK coordinates of the current location are compared to determine the distance and direction, thereby shortening the search time and reducing labor. They then adopted a configuration in which a discovered survey marker, such as a metal stud, is RTK-positioned from directly above and compared with the survey reference point coordinate information, i.e., a configuration in which the error between the registered GNSS coordinates for the position of the survey marker and the GNSS coordinates actually measured directly above the survey marker is confirmed. They discovered that this configuration makes it possible to accurately confirm errors resulting from operational errors made during the installation of the survey marker or displacement of the survey marker due to an earthquake or other cause, while also reducing the labor required for survey point investigation, leading to the completion of the present invention.

[0015] That is, the present invention is a survey point investigation RTK system that searches for the location of a survey control point installed on the ground based on survey control point coordinate information recorded in a survey by an administrative agency or the like, An RTK surveying investigation server having an RTK module that provides RTK positioning accuracy, a database server that records the survey control point coordinate information, the RTK positioning results obtained by RTK positioning the coordinates of the survey control point, and map data, and an RTK coordinate conversion and analysis device that derives correction values ​​for the RTK positioning results and outputs coordinates in a corrected plane rectangular coordinate system; an RTK surveying survey device including: an RTK module that performs RTK positioning of the coordinates of the survey reference point; a GNSS antenna horizontal adjustment mechanism that keeps the GNSS antenna provided in the RTK module that performs RTK positioning horizontal; a laser irradiation mechanism that is fixed below the GNSS antenna provided in the RTK module that performs RTK positioning to irradiate a laser beam toward the survey reference point and maintains the irradiation direction of the laser beam vertically downward by the GNSS antenna horizontal adjustment mechanism; a target direction guide light mechanism that displays the direction from the current position of the RTK module that performs RTK positioning to the location of the survey reference point; and a display that can display the map data including the survey reference point coordinate information recorded in the database server of the RTK surveying survey server, The RTK surveying survey server is, in the RTK coordinate transformation and analysis device, Four points are selected as correction reference points from the survey reference point coordinate information recorded in the database server and the RTK positioning results of the discovered survey landmarks, and based on the correction reference points, the correction values ​​for each of the rotation angle, translation, and scale that have the smallest error between the survey reference point coordinate information and the RTK positioning results are derived; Furthermore, from the survey reference point coordinate information and the RTK positioning results, we provide a survey point investigation RTK system that extracts survey reference points where the landmark-less RTK positioning was performed from among survey reference points where landmark-based RTK positioning was performed by aligning the position with the discovered survey landmark and survey reference points where landmark-less RTK positioning was performed by aligning the position with the survey reference point coordinate information without the survey landmark being discovered, and displays corrected coordinates obtained by correcting the survey reference point where the landmark-less RTK positioning was performed using the correction value on the map data on the display of the RTK surveying equipment.

[0016] In the above-mentioned aspect, the RTK system for surveying a survey point of the present invention includes: The RTK surveying survey server receives the RTK positioning result obtained by RTK positioning of the survey landmark by the RTK module of the RTK surveying survey equipment in the RTK coordinate conversion and analysis device, converts the RTK positioning result into the plane rectangular coordinate system, and displays the result as XY corrected coordinates calculated by using the correction values ​​on the map data on the display of the RTK surveying survey equipment, Furthermore, a configuration can be adopted in which the differences between the XY corrected coordinates and the X and Y coordinates in the map data recorded in the database server are calculated using XY coordinate values ​​obtained by converting GNSS coordinates into the planar rectangular coordinate system and metric values, and are displayed on the map data on the display device.

[0017] In the above-mentioned aspect, the RTK system for surveying a survey point of the present invention includes: The RTK surveying survey equipment can be configured to display on the display device the survey reference point RTK-positioned by the RTK module that performs the RTK positioning, along with the corrected coordinates obtained by correcting the survey reference point RTK-positioned without landmarks using the correction value, on the map data.

[0018] In the above-mentioned aspect, the RTK system for surveying a survey point of the present invention includes: The RTK surveying survey server can adopt a configuration in which, while the correction values ​​derived based on the four correction reference points are stored in the RTK coordinate conversion and analysis device, the differences between the multiple surveying reference points and the X and Y coordinates in the map data are calculated using X and Y coordinate values ​​obtained by converting GNSS coordinates into the plane rectangular coordinate system and metric values, thereby processing the differences between the X and Y correction coordinates and the X and Y coordinates in the map data all at once.

[0019] In the above-mentioned aspect, the RTK system for surveying a survey point of the present invention includes: The RTK surveying survey equipment can be configured to calculate the distance and azimuth angle from the self-position of the RTK surveying survey equipment, which has been RTK-positioned by the RTK positioning module, to the location of the surveying landmark using the XY correction coordinates, and to display the direction of the location of the surveying reference point using the target direction guidance light mechanism. [Effects of the Invention]

[0020] According to the present invention, the RTK survey point investigation system uses an RTK coordinate conversion and analysis device installed in the RTK survey survey server to derive a correction value that minimizes the error between the survey reference point coordinate information and the RTK positioning results based on the survey reference point coordinate information and the correction reference point selected from the RTK positioning results. Furthermore, the system extracts survey reference points where no survey landmarks are found, and displays the corrected coordinates, corrected using the correction value, on map data on a display device equipped with the RTK survey survey equipment. Using this type of survey point investigation RTK system to identify the location of survey reference points reduces search time and labor. Furthermore, by performing RTK positioning on the discovered survey landmarks and comparing them with survey reference point coordinate information registered in local government information, etc., it is possible to accurately check the error relative to the position of the survey reference point at the time of installation and reduce the labor required for surveying. In addition, by recording lost surveying markers and identifying their locations and creating temporary markers with spray paint, etc., it is possible to efficiently create a list of work locations for hammering in metal nails or granite, thereby shortening the time required for searches. Furthermore, by performing RTK positioning of the survey reference point using the survey point investigation RTK system of this embodiment, it is possible to obtain geoid height in addition to latitude and longitude, which can be compared with the geoid height contained in the survey reference point coordinate information, making it possible to record changes in the terrain.

[0021] Other objects, features and advantages of the present invention will become apparent from the following description of the preferred embodiments of the present invention, which proceeds with reference to the accompanying drawings. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a diagram for explaining a schematic diagram of one embodiment of a survey point investigation RTK system according to the present invention, and is a block diagram showing the configuration of the entire system including an RTK survey investigation server and RTK survey investigation equipment. [Figure 2] FIG. 2 is a diagram for schematically explaining one embodiment of the survey point inspection RTK system according to the present invention, and is an enlarged block diagram showing in detail the configuration of the RTK surveying equipment shown in FIG. [Figure 3] FIG. 3 is a diagram for schematically explaining one embodiment of the survey point investigation RTK system according to the present invention, and is an enlarged block diagram showing in detail the configuration of the RTK survey investigation server shown in FIG. [Figure 4] Figures 4(a) and (b) are diagrams illustrating a schematic diagram of one embodiment of the survey point investigation RTK system according to the present invention, and are schematic diagrams illustrating in detail an example of the operation of the GNSS antenna horizontal adjustment mechanism provided in the RTK survey investigation equipment shown in Figures 1 and 2. [Figure 5] Figure 5 is a diagram illustrating a schematic diagram of one embodiment of the survey point inspection RTK system according to the present invention, and is a detailed schematic diagram showing an example of a target direction guide light mechanism provided in the RTK surveying equipment shown in Figures 1 and 2. [Figure 6] Figures 6(a) to (c) are diagrams that schematically explain one embodiment of the survey point investigation RTK system of the present invention, and are schematic diagrams showing an example of an extendable support column that can be provided on the RTK survey investigation equipment shown in Figures 1 and 2. [Figure 7] Figure 7 is a diagram that schematically explains one embodiment of the survey point survey RTK system of the present invention, and is a flowchart that shows an example of the flow of information processing in survey point survey using the survey point survey RTK system shown in Figure 1. [Figure 8]Figures 8(a) and (b) are diagrams illustrating a schematic diagram of one embodiment of the survey point investigation RTK system according to the present invention, where Figure 8(a) is a schematic diagram showing in a planar direction the guidance operation by the target direction guidance light mechanism provided in the RTK surveying equipment shown in Figures 1 and 2, and Figure 8(b) is a flowchart showing an example of the processing flow in the target direction guidance light mechanism. [Figure 9] Figure 9 is a diagram illustrating a schematic diagram of one embodiment of the survey point survey RTK system of the present invention, and is a flowchart showing an example of the process of creating correction values ​​for correcting RTK positioning results, which is part of the overall information processing in survey point survey using the survey point survey RTK system shown in Figure 1. [Figure 10] Figure 10 is a diagram illustrating a schematic diagram of one embodiment of the survey point investigation RTK system according to the present invention, and is a flowchart showing an example of data processing, including calculation of the direction and distance from the current position of the survey target point, including the survey reference point, and guiding the worker to the survey target point, among the overall information processing in the survey point investigation using the survey point investigation RTK system shown in Figure 1. [Figure 11] Figure 11 is a diagram illustrating a schematic diagram of one embodiment of the survey point survey RTK system of the present invention, and is a flowchart showing an example of data processing for analyzing and outputting the difference between the RTK positioning results and the survey reference point coordinate information, among the overall information processing in the survey point survey using the survey point survey RTK system shown in Figure 1. [Figure 12] Figures 12(a) to (d) are diagrams that schematically explain one embodiment of the survey point investigation RTK system of the present invention, and are schematic diagrams showing on a map an example of a survey process when RTK positioning is performed to record block reference points published by administrative agencies, etc., in a survey point investigation using the survey point investigation RTK system shown in Figure 1. [Figure 13]Figures 13(a) to (c) are diagrams that schematically explain one embodiment of the survey point investigation RTK system of the present invention, and are schematic diagrams showing on a map an example of a survey process when RTK positioning is performed on a point that is not included in the block reference point information published by an administrative agency, etc., and the positioning results are recorded, during a survey point investigation using the survey point investigation RTK system shown in Figure 1. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, an embodiment of the survey point inspection RTK system according to the present invention will be described in detail with reference to the drawings as appropriate. In addition, in each drawing used in the following explanation, for the sake of convenience, in order to make the features of the survey point investigation RTK system of the present invention easier to understand, the characteristic parts may be shown slightly enlarged, and the connection form of each component may differ from the actual one. Furthermore, the communication methods and structures exemplified in the following explanation are examples, and the present invention is not limited to them, and can be implemented by making appropriate changes within the scope that does not change the gist of the present invention.

[0024] <Overall configuration of the RTK system for surveying points> The overall configuration of a survey point investigation RTK system according to one embodiment of the present invention will be described with reference mainly to FIGS. 1 to 6 as appropriate. Figure 1 is a block diagram showing the overall configuration of the survey point survey RTK system 100 of this embodiment, Figure 2 is an enlarged block diagram showing the configuration of the RTK survey survey equipment 200 in detail, and Figure 3 is an enlarged block diagram showing the configuration of the RTK survey survey server 300 in detail. Figures 4(a) and (b) are schematic diagrams that explain in detail an example of the operation of the GNSS antenna horizontal adjustment mechanism 220 provided in the RTK surveying survey equipment 200, Figure 5 is a schematic diagram that shows in detail an example of the target direction guide light mechanism 240, and Figures 6(a) to (c) are schematic diagrams that show an example of the telescopic support 280 provided in the RTK surveying survey equipment 200.

[0025] The survey point investigation RTK system 100 of this embodiment is used to search for the location of a survey reference point installed on the ground based on survey reference point coordinate information recorded by a survey by an administrative agency or the like, perform RTK positioning, and then calculate an error by comparing the GNSS coordinates registered in the survey reference point coordinate information with the GNSS coordinates obtained by the RTK positioning of this embodiment. As shown in Figure 1, the survey point investigation RTK system 100 is generally configured to include an RTK survey investigation server 300 and an RTK survey investigation device 200.

[0026] The survey reference points searched for and used for surveying using the survey point investigation RTK system 100 of this embodiment are, for example, reference points made of metal rivets or granite, etc., and are installed by administrative agencies, etc. in a form that is buried underground with the upper end exposed.

[0027] 1 and 3, the RTK surveying survey server 300 includes an RTK module 310, a database server 330, and an RTK coordinate conversion and analysis device 340. The illustrated RTK surveying survey server 300 further includes an internet connection unit 320 and a battery 360. In the survey point survey RTK system 100 of this embodiment, the RTK survey survey server 300, details of which will be described later, is provided to improve the RTK measurement accuracy when the RTK module 210 provided in the RTK survey survey equipment 200 performs RTK positioning of the survey target point.

[0028] The RTK module 310 is a means for performing RTK surveying and provides RTK positioning accuracy to the RTK surveying equipment 200 provided in the survey point inspection RTK system 100. The RTK module 310 can be a module that can be used as a mobile base station for RTK positioning. On the other hand, the base station function of the RTK module 310 can also be replaced with a paid service such as a location information service provided by a telecommunications carrier via the Internet network for mobile phones, etc. In this case, the RTK module 310 can be omitted from the RTK surveying server 300.

[0029] The database server 330 records and stores the survey reference point coordinate information, the RTK positioning results obtained by RTK positioning the coordinates of the survey reference points, and map data. The database server 330 is also configured to be able to share the survey reference point coordinate information by establishing and maintaining a connection between the RTK surveying equipment 200 and the RTK surveying server 300 via the Internet network using the Internet connection unit 320. The database server 330 may be, for example, a storage / information processing device equipped with a large-capacity hard disk or memory, or may be a general personal computer, tablet device, or the like.

[0030] The RTK coordinate conversion and analysis device 340 derives correction values ​​for the RTK positioning results and outputs coordinates in the corrected plane rectangular coordinate system. The RTK coordinate conversion and analysis device 340 also calculates and stores correction values ​​for the rotation angle, translation, and scale to plot (display) the RTK positioning results on map data on the display 290 provided in the RTK surveying and investigation equipment 200, and performs distance measurement and error analysis between the target position of RTK positioning identified by the RTK module 210 of the RTK surveying and investigation equipment 200, which will be described in detail later, and the measurement target point after image processing.

[0031] The RTK coordinate conversion and analysis device 340 is not particularly limited, and it is possible to use a dedicated device equipped with a CPU, etc., or to adopt a general personal computer, tablet device, etc. Furthermore, when a personal computer or tablet device is used as the RTK coordinate conversion and analysis device 340, it is also possible to make it have the functions of the database server 330 described above by using the storage means provided therein.

[0032] The survey control point map generating device 350 generates map data including the survey control point coordinate information based on the survey control point coordinate information and map data pre-recorded in the database server 330. This map data is displayed on the display 290 provided in the RTK surveying equipment 200.

[0033] The internet connection unit 320 is a means for connecting the RTK surveying survey server 300 to the internet. The RTK surveying survey server 300 is configured to be able to communicate with the RTK surveying survey equipment 200 and the like via the internet network via the internet connection unit 320.

[0034] The battery 360 is a means for supplying power to operate each means constituting the RTK surveying survey server 300. The battery 360 is not particularly limited either, and any general power storage means can be used without any restrictions.

[0035] 1 and 2, the RTK surveying survey equipment 200 includes an RTK module 210, a GNSS antenna horizontal adjustment mechanism 220, a laser irradiation mechanism 230, a target direction guide light mechanism 240, and a display 290. Furthermore, the illustrated RTK surveying survey equipment 200 includes a battery 250, an internet connection unit 260, a handle 270, and an extendable support 280. The RTK surveying equipment 200 has the function of investigating a survey target point using RTK positioning, and as shown in the illustrated example, is configured as a handy type that can be easily carried by an operator.

[0036] The RTK module 210 measures the self-position of the RTK surveying equipment 200. That is, the RTK module 210 acquires the current position information of the RTK module 210 relative to the coordinates given by the worker operating the RTK surveying equipment 200, and performs RTK positioning of the target point after the worker reaches the target point.

[0037] The RTK module 210 can also be a module similar to the above-mentioned RTK module 310. Then, by transmitting the RTK positioning results acquired by the RTK module 210 to the RTK module 310 of the RTK surveying investigation server 300, it becomes possible to derive correction values ​​in the above-mentioned RTK coordinate conversion and analysis device 340.

[0038] The GNSS antenna horizontal adjustment mechanism 220 adjusts the installation angle of the GNSS antenna provided in the above-mentioned RTK module 210, and also adjusts the orientation of the laser irradiation mechanism 230 fixed below the GNSS antenna. In other words, the GNSS antenna horizontal adjustment mechanism 220 is provided to maintain the horizontal orientation of the GNSS antenna in the RTK module 210, and to adjust and maintain the irradiation direction of the laser light from the laser irradiation mechanism 230 vertically downward.

[0039] Although detailed illustrations of the GNSS antenna horizontal adjustment mechanism 220 are omitted in FIGS. 1 and 2, it is possible to employ a structure having a movable mechanism such as a gimbal.

[0040] The laser irradiation mechanism 230 irradiates a laser beam toward the survey reference point. The laser irradiation mechanism 230 is fixed, for example, below the above-mentioned GNSS antenna so as to be located approximately in the center when the GNSS antenna is viewed from above, and as described above, is configured so that the irradiation direction of the laser beam can be adjusted by the GNSS antenna horizontal adjustment mechanism 220. In other words, the laser irradiation mechanism 230 irradiates a laser beam vertically downward from the center position in the plan view of the GNSS antenna, thereby clearly indicating the arrival point indicated by the RTK module 210 and aligning the RTK surveying survey instrument 200 with the survey reference point.

[0041] The laser irradiation mechanism 230 provided in the RTK surveying survey equipment 200 is not particularly limited, and for example, a laser irradiation means capable of emitting visible light, which is used in general surveying equipment, etc., can be used.

[0042] The target direction guide light mechanism 240 indicates the direction of the location of the survey reference point. Specifically, in the example shown in Figure 5, the target direction guide light mechanism 240 is composed of an LED light group 241 consisting of seven LED lights LED1, LED2, LED3, LED4, LED5, LED6, and LED7, and an electronic compass 242. The target direction guide light mechanism 240 lights up (blinks) only the LED light of the seven LED lights LED1 to LED7 that faces the target point, thereby indicating to the worker operating the RTK surveying equipment 200 the direction to head to reach the target point.

[0043] 1 and 2, the target direction guiding light mechanism 240 is configured to have a roughly plate-like shape in side view. Moreover, as shown in Fig. 5, the target direction guiding light mechanism 240 in the illustrated example is configured to have a roughly disk-like shape in plan view, that is, when the RTK surveying equipment 200 is viewed from above, with the LED light group 241 arranged in a ring shape along the outer periphery.

[0044] As described above, the LED light group 241 has seven LEDs, LED1 to LED7, arranged in a ring shape along the outer periphery of the target direction guide light mechanism 240. In the example shown in Fig. 5, the LED lights LED1, LED2, LED3, LED4, LED5, LED6, and LED7 are arranged in clockwise order in a plan view.

[0045] The electronic compass 242 detects the direction of the earth's magnetic field to obtain direction information. The electronic compass 242 is not particularly limited, and a general compass module can be adopted.

[0046] The position at which the LED light turns on (flashes) is determined, for example, by calculating the clockwise angle from the front at which the RTK surveying equipment 200 is facing, based on the azimuth angle detected by the electronic compass 242, the direction of the target position selected from the previously acquired survey reference point coordinate information, and the current position measured by the RTK module 210, and then using the resolution that depends on the number of LED lights installed.

[0047] The lighting method of the LED lights LED1 to LED7 is not particularly limited, but for example, the shorter the blinking interval is as the distance between the RTK module 210 and the target position, the easier it is for the worker to grasp the distance to the target position. Then, when the RTK module 210 reaches directly above the target point, the omnidirectional LED lights LED1 to LED7 can be controlled to all light up (no blinking), thereby informing the worker that RTK positioning using the RTK module 210 is now possible.

[0048] The number of LED lights provided in the target direction guide light mechanism 240 is not particularly limited, but seven or more LED lights indicating the forward, left front, left, left rear, right front, right, and right rear directions may be provided in consideration of the operability and convenience of the worker operating the RTK surveying equipment 200. In the example shown in Fig. 5, seven LED lights LED1, LED2, LED3, LED4, LED5, LED6, and LED7 are arranged at equal intervals in a ring shape (fan shape) in a plan view within a range of approximately 270°.

[0049] The RTK surveying equipment 200 is provided with a display 290 capable of displaying map data recorded in the database server 330 of the RTK surveying server 300. Such a display is not particularly limited, and for example, a general small LCD panel used in various portable devices can be used without any restrictions.

[0050] The battery 250 is a means for supplying power to operate each means constituting the RTK surveying equipment 200. The battery 250 is not particularly limited either, and a general mobile battery or the like can be used without any restrictions.

[0051] The internet connection unit 260 is a means for connecting the RTK surveying survey equipment 200 to the internet. The RTK surveying survey equipment 200 communicates with the RTK surveying survey server 300 via the internet network using the internet connection unit 260, thereby enabling the RTK surveying survey equipment 200 to exchange survey control point coordinate information and the like with the database server 330 provided in the RTK surveying survey server 300, and to send and receive measurement point information and measurement results.

[0052] The handle 270 is held by an operator using the RTK surveying survey equipment 200 when holding the RTK surveying survey equipment 200 directly above the measurement target point. The handle 270 may be a generally rod-shaped handle as shown in the illustration, without any restrictions.

[0053] When an operator grasps the handle 270 and holds the RTK surveying survey equipment 200 directly above the measurement target point, the tip of the telescopic support 280 contacts the ground, thereby simply supporting the RTK surveying survey equipment 200. By contacting the tip of the telescopic support 280 with the ground, the load on the operator when holding the RTK surveying survey equipment 200 is reduced.

[0054] Although detailed illustration is omitted in the example shown in FIGS. 6(a) to 6(c), the telescopic support 280 has a slide mechanism that is capable of extending and contracting in the axial direction. That is, as shown in Figure 6(a), when a worker carries the RTK surveying equipment 200 and moves to search for a measurement target point, the telescopic support 280 can be retracted toward the handle 270, making it highly portable. 6(b) and (c), when an operator holds the RTK surveying equipment 200 directly above the measurement target point so that the RTK module 210 is in a vertical position, the telescopic support 280 can be extended in the axial direction. This allows the operator to hold the RTK surveying equipment 200 with the tip of the telescopic support 280 in contact with the ground, thereby reducing the burden on the operator.

[0055] The survey point inspection RTK system 100 of this embodiment has the above configuration and performs the processing described below. That is, the RTK coordinate conversion and analysis device 340 of the RTK surveying investigation server 300 first selects four points as correction reference points from the surveying reference point coordinate information recorded in the database server 330 and the RTK positioning results of the discovered surveying landmarks, and based on these correction reference points, derives correction values ​​for the rotation angle, translation, and scale that have the smallest error between the surveying reference point coordinate information and the RTK positioning results. Furthermore, based on the survey control point coordinate information and RTK positioning results, all survey control points for which landmarked RTK positioning was performed by aligning with the discovered survey control points and for which landmarkless RTK positioning was performed by aligning with the survey control point coordinate information without discovering any survey control points are corrected using the above correction value to derive corrected coordinates. Then, by comparing these results with the survey control point coordinate information, survey control points for which no survey control points were discovered are extracted and displayed on the map data on the display 290 of the RTK surveying survey equipment 200. This allows workers to search for undiscovered landmarkless survey control points, thereby shortening the search time and reducing labor. Furthermore, by performing landmarked RTK positioning on the discovered survey control points and comparing them with the survey control point coordinate information, errors in the position of the survey control points at the time of installation can be confirmed with high accuracy and labor-saving surveying work can be achieved.

[0056] The conventional method of light wave surveying, which has been commonly used, requires sequential surveying of the reference point, previous survey point, current survey point, and next survey point when light waves cannot reach the target, which means that errors may accumulate with each survey. In contrast, the method using RTK positioning obtains absolute position by measuring from a bird's-eye view using GNSS satellites, rather than relative position from a specific reference point, so there is no accumulation of errors caused by consecutive measurement points as described above.

[0057] On the other hand, when surveying using only RTK positioning, positioning deviations can occur due to factors such as the relationship between the position of GNSS satellites in the sky and the surrounding environment, and the positioning results may not be consistent depending on the time of day the survey is being conducted. In contrast, the survey point inspection RTK system 100 of this embodiment, by being equipped with the above-mentioned configuration, makes it possible to obtain accurate and stable positioning results regardless of various conditions such as the relationship between the position of GNSS satellites and the surrounding environment.

[0058] In addition, the survey point inspection RTK system 100 of this embodiment can further adopt a configuration that can perform the following processing. For example, the RTK coordinate conversion and analysis device 340 of the RTK surveying survey server 300 first receives the RTK positioning results obtained by RTK positioning of the survey reference point by the RTK module 210 of the RTK surveying survey equipment 200. Then, the RTK positioning results are converted into a plane rectangular coordinate system, and the X and Y coordinates are calculated using correction values, and the resultant X and Y coordinates are displayed on the map data on the display 290 of the RTK surveying survey equipment 200. Furthermore, the difference between the X and Y corrected coordinates and the X and Y coordinates in the map data recorded in the database server 330 can be calculated using the X and Y coordinate values ​​converted from the GNSS coordinates into the plane rectangular coordinate system and metric values, and displayed on the map data on the display.

[0059] In addition, in this embodiment, for example, the display 290 of the RTK surveying survey equipment 200 may be configured to display the survey reference point RTK-positioned by the RTK module 210 on map data, along with the corrected coordinates obtained by correcting the survey reference point RTK-positioned without landmarks using the correction value.

[0060] Furthermore, in this embodiment, for example, the RTK coordinate conversion and analysis device 340 of the RTK surveying survey server 300 can be configured to calculate the differences between multiple survey control points and the X and Y coordinates in the map data using X and Y coordinate values ​​obtained by converting the GNSS coordinates into a plane rectangular coordinate system and metric values, while storing the correction values ​​derived based on four correction control points. This makes it possible to process the differences between the X and Y correction coordinates and the X and Y coordinates in the map data all at once.

[0061] In this embodiment, for example, the RTK surveying survey instrument 200 first calculates the distance and azimuth angle from the self-position of the RTK surveying survey instrument 200, which is RTK-positioned by the RTK module 210, to the location of the survey reference point using XY correction coordinates. Then, the target direction guide light mechanism 240 can be configured to display the direction of the location of the survey target point including the survey reference point.

[0062] <Survey point investigation: Searching and surveying control points using an RTK system> Hereinafter, a method (procedure) for searching for a survey control point and conducting a survey using the survey point inspection RTK system 100 of the present embodiment will be described with appropriate reference to FIGS. 1 to 6, as described above.

[0063] In the method using the survey point investigation RTK system 100 of this embodiment, a survey reference point is searched for using a handheld RTK survey investigation device 200 according to map information (map data) including survey reference point coordinate information, and it is confirmed in which direction and by how far the survey reference point discovered in this search is shifted from the survey reference point coordinate information.

[0064] First, as a preliminary preparation for carrying out the above-mentioned confirmation work, prepare a connection environment to the Internet network for communication between the RTK surveying survey server 300 and the RTK surveying survey equipment 200. Specifically, connect the Internet connection unit 320 provided in the RTK surveying survey server 300 and the Internet connection unit 260 provided in the RTK surveying survey equipment 200 to the Internet network. Then, connect the RTK surveying survey server 300 and the RTK surveying survey equipment 200 via the Internet network using the Internet connection unit 320 and the Internet connection unit 260.

[0065] As a preliminary step, the coordinate information of the survey control points is used to create a layout diagram of the survey control points to be displayed on the map data on the display 290 provided in the RTK surveying equipment 200.

[0066] After the above preparations are complete, the survey point investigation RTK system 100 is used to search for and locate the survey reference point on the ground. At this time, the LED light group 241 of the target direction guiding light mechanism 240 provided on the handheld RTK surveying survey equipment 200 lights up (blinks) one of the LED lights LED1 to LED7 corresponding to the direction of the next survey reference point. In addition, the map data displayed on the display of the RTK surveying survey equipment 200 displays surrounding map information and the location of the next survey reference point, supporting the search work by the operator. Then, when directly above the survey reference point is reached, all of the LED lights LED1 to LED7 constituting the LED light group 241 of the target direction guiding light mechanism 240 light up, notifying the operator that the target point has been reached.

[0067] The above method is extremely effective in finding and locating the position of a survey reference point according to previously obtained information, i.e., the original position of the survey reference point based on the survey reference point information registered with a local government, etc., in cases where, for example, the survey reference point is buried in earth and sand due to the effects of nearby construction work or disasters, or where a survey reference point made of metal rivets or the like has fallen off the surface of the ground and is lost, or where a survey reference point made of metal rivets or the like has shifted along with the ground.

[0068] Next, after arriving directly above the survey reference point using the above method, RTK positioning is performed using the survey point inspection RTK system 100 of this embodiment.

[0069] First, RTK positioning is performed on four or more of all survey reference points specified in advance, and then four points from the survey reference point coordinate information and RTK positioning results are selected as correction reference points. Based on these correction reference points, correction values ​​for the rotation angle, translation, and scale that minimize the error between the survey reference point coordinate information and the RTK positioning results are derived. For example, after first performing RTK positioning on four or more survey reference points, correction values ​​are derived from the RTK positioning results of the four points. Next, RTK positioning is performed on the remaining survey reference points, and the correction values ​​obtained from the RTK positioning results of the first four points can be used for this correction. Furthermore, during the above-mentioned RTK positioning, the target direction guide light mechanism 240 can be used to indicate the next survey reference point to be RTK-positioned between the first and second positionings.

[0070] The four correction reference points selected as described above are used as correct reference points for correcting other acquired results, so it is desirable to select four points that are considered to have high accuracy in on-site positioning. Therefore, for example, as a condition for selecting the four points, a combination of four points is created using only results for which the RTK positioning results are fixed solutions, and a homography transformation matrix to be used for correction is derived to obtain the correction value with the smallest error. Furthermore, when selecting the four correction reference points, in addition to the above-mentioned error, it is preferable that the area enclosed by the selected four points is large and that the pattern is roughly rectangular in plan view, from the perspective of achieving higher positioning accuracy. Furthermore, it is even more desirable to select four correction reference points that are as far away as possible from within the range including the survey target point. This is in line with the basic concept of surveying: surveying a nearby position using a more distant position as a reference increases surveying accuracy. In addition, in the method using the survey point inspection RTK system 100 of this embodiment, it is also possible to automatically search for, for example, four correction reference points that meet the above conditions.

[0071] The above-mentioned homography transformation matrix is ​​a method used in image processing, for example, and is a matrix used for affine transformation to correct differences in rotation (rotation angle), enlargement / reduction (scale), and left / right and up / down (translation). The homography transformation matrix can be derived by the least squares method using the RTK positioning results of the above-mentioned four points. Therefore, it is preferable that the derivation of each correction value using the survey point inspection RTK system 100 of this embodiment is performed by affine transformation using a homography transformation matrix.

[0072] Although it is possible to derive the correction value using two or three correction reference points, in this case the accuracy of on-site positioning decreases. Therefore, it is desirable to select four correction reference points as described above.

[0073] The RTK surveying survey equipment 200 is a small handheld equipment different from conventional surveying equipment, and can accurately hold the GNSS antenna of the RTK module 210 horizontally directly above the surveying reference point by using the GNSS antenna horizontal adjustment mechanism 220, which is made up of a gimbal mechanism or the like, while irradiating a laser beam onto the surveying reference point with the laser irradiation mechanism 230 for positioning. In this case, by using the telescopic support 280, it is possible to hold the GNSS antenna of the RTK module 210 horizontally more accurately. As a result, the work can be done by one person without the need for collaboration among multiple workers, which is excellent in terms of workability, and does not require high levels of skill, making it easier to allocate personnel.In addition, the ability to complete the work in a short amount of time significantly reduces the time the road is occupied by the surveyor.

[0074] <Examples of use of the RTK system for surveying points> Hereinafter, specific applications of the method for searching for survey control points and conducting survey work using the survey point investigation RTK system 100 of this embodiment described above will be explained with appropriate reference to Figures 1 to 6, as described above.

[0075] [Application 1: Searching for surveying points] In searching for a survey reference point using the survey point investigation RTK system 100 of this embodiment, the X-axis and Y-axis are each converted to millimeter coordinate values, and then the correction values ​​derived by the above method are used to perform fine adjustments by rotation (rotation angle), enlargement / reduction (scale), and left / right / up / down (translation). In addition, map data that allows the layout of surrounding buildings to be understood is superimposed on a single point (center point) that serves as the zero position, and then rotated using a correction angle (rotation angle), and the scale is fine-tuned using the ratio of the reference distance. The coordinates of the search target converted using the above method, the surrounding map data, and the current position of the RTK surveying equipment 200 are then displayed on the same screen on the display 290, thereby indicating to the operator the distance and route from the current position to the survey reference point.

[0076] [Application 2: Calculation of surveying errors] When using the survey point investigation RTK system 100 to check the positional accuracy of markers such as metal rivets installed as survey reference points and measure errors, the RTK positioning results are compared with the corrected XY coordinates included in the survey reference point coordinate information to determine the straight-line distance and the difference in distance in each direction of the X and Y axes. The calculated distance difference is then stored in the database server 330 of the RTK survey investigation server 300, and if the straight-line distance exceeds the allowable error, the display or the like prompts the user to reconfirm the position of the markers such as metal rivets that serve as survey reference points, and the survey accuracy is corrected based on the error display in each direction of the X and Y axes.

[0077] [Effects obtained from Use 1 and Use 2] The X-axis and Y-axis coordinates and distances of the difference between the RTK coordinates acquired by the above-mentioned search for survey points (Application 1) and calculation of survey errors (Application 2) and obtainable survey control point coordinate information (block control point information) previously released by administrative agencies, etc., and the survey landmarks can be stored in the database server 330. This makes it possible to, for example, draw coordinates on an image of map data including the survey target range, or to display a list of distances in any form, and to configure it so that it can be viewed in any way.

[0078] The survey point investigation RTK system 100 of this embodiment is effective for searching for survey points that have been surveyed and recorded using conventional methods, checking survey accuracy, and correcting survey deviations. In particular, in the event of a disaster or accident that affects the ground, such as an earthquake, survey control points installed on roads may become buried underground or shift in position along with the ground, making visual search difficult. Therefore, using the survey point investigation RTK system 100 to re-survey after a disaster is extremely effective.

[0079] <Information processing in RTK systems for surveying points> Next, the flow of information processing in searching for and surveying survey control points using the survey point investigation RTK system 100 of this embodiment will be explained in sequence, with appropriate reference to the flowcharts shown in Figures 7 to 11 (also see Figures 1 to 6 as appropriate).

[0080] [Explanation of the flowchart shown in Figure 7] FIG. 7 is a flowchart showing an example of the flow of information processing in a surveying point survey using the surveying point survey RTK system 100.

[0081] First, in S1010, a list of survey control points recorded by government agencies and the like and publicly available as survey control point coordinate information is read.

[0082] Next, in S1020, a survey control point to be surveyed is selected. The coordinates of this survey control point m are calculated based on its X and Y coordinates using the following formula {m=m x ,m y}.

[0083] Next, in S1030, it is determined whether or not there are any remaining survey control points m to be investigated. If there are no remaining targets to be investigated, a correction matrix is ​​created using the homography transformation matrix in S1100 (described later), and the process ends. The creation of the correction matrix in S1100 is performed in steps S3010 to S3170 shown in the flowchart of FIG. 9, as will be described in detail later. On the other hand, if there are any remaining targets to be investigated, the process proceeds to the next step, S1040.

[0084] In S1040, the current position (latitude and longitude) of the RTK surveying equipment 200 is acquired by RTK positioning using the RTK module 210 provided in the RTK surveying equipment 200 described above.

[0085] Next, in S1050, the RTK positioning results are corrected and converted into a plane rectangular coordinate system. The converted coordinates are calculated using the following equation {g=g x ,g y}.

[0086] Next, in S1060, the above-mentioned target direction guide light mechanism 240 displays the direction to the location of the survey target point including the survey reference point.

[0087] Next, in S1070, it is determined whether or not the target survey control point has been reached at the survey target point, and if not, the process returns to S1020. On the other hand, if the target survey reference point has been reached, the process proceeds to the next step, S1080.

[0088] In S1080, the coordinates of the survey control point reached by searching as a target are recorded. That is, the survey mark, the following equation {g=g x , g y The coordinates of the survey control point represented by {} and the latitude and longitude of the survey control point based on the FIX or FLOAT solution from the GNSS satellite are recorded as RTK positioning values.

[0089] Next, in S1090, the next measurement reference point to be searched is set, and the process returns to S1020.

[0090] [Explanation of the flowchart shown in FIG. 8 (including explanation of the guiding operation of the target direction guide light mechanism)] Figure 8(a) is a schematic diagram showing in a planar direction the guidance operation by the target direction guidance light mechanism 240 provided in the RTK surveying equipment 200, and Figure 8(b) is a flowchart showing an example of the processing flow in the target direction guidance light mechanism 240.

[0091] As shown in the flowchart of FIG. 8(b), in the process by the target direction guide light mechanism 240, first, the coordinates of the survey reference point m (position: m=m x ,m y ), and the current position (g = g x , g y ) to load the

[0092] Next, in S2010, the azimuth angle θ from the north direction is calculated by the electronic compass 242 provided in the target direction guide light mechanism 240 shown in FIG. a Get.

[0093] Next, in S2020, the vector e from the current position of the RTK surveying equipment 200 to the survey reference point to be searched is calculated using the following equation {e=mg}.

[0094] Next, in S2030, arrival at the survey control point, which is the search target, is determined. At this time, arrival determination is performed based on the vector e obtained in S2020 with an accuracy expressed by the following formula {||e||<100 mm}. Then, if it is determined that the target survey reference point has been reached, in the next step S2040, all of the LED lights LED1 to LED7 that make up the LED light group 241 of the target direction guide light mechanism 240 shown in Figure 8(a) are flashed. On the other hand, if it is determined that the packet has not yet arrived, the process proceeds to S2050 in the flowchart of FIG. 8(b).

[0095] In S2050, the direction difference θ between the forward direction of the RTK surveying survey equipment 200 and the survey control point that is the search target d In this case, the following formula {θ d =(90-θ a )+θ e}, the above direction difference θ d Calculate.

[0096] Next, in S2060, the positions of the LED lights to be turned on (blinked: displayed) among the LED lights LED1 to LED7 constituting the LED light group 241 of the target direction guide light mechanism 240 shown in FIG. 8(a) are calculated and determined.

[0097] Next, in S2070, the LED light at the position determined in S2060 above, among the LED lights LED1 to LED7 that make up the LED light group 241 shown in FIG. 8(a), is turned on (blinked).

[0098] [Explanation of the flowchart shown in Figure 9] FIG. 9 is a flowchart showing an example of a process for creating correction values ​​for correcting RTK positioning results, which is part of the overall information processing in a surveying spot survey using the surveying spot survey RTK system 100.

[0099] First, in S3010, creation of a correction matrix is ​​started when it is determined in S1030 shown in the flowchart of Fig. 7 that there are no remaining survey control points m to be investigated. That is, first, in S3010, if the index i is smaller than the Nth column in the correction matrix, the process proceeds to the next step, S3020. On the other hand, if the index i is greater than the Nth column in the correction matrix, the process proceeds to S3100 in the flowchart of FIG.

[0100] In S3020, the following formula {g i =(x i ,y i )} to read the RTK positioning value.

[0101] Next, in S3030, the fixed solution of the RTK positioning value (k i :1 or 0).

[0102] Next, in S3040, the search target, the survey control point mi coordinates (m i =(x i ,y i ) to load the

[0103] Next, in S3050, the FIX solution is k i If it is 1, the process proceeds to the next step, S3060. On the other hand, if the FIX solution is k i If it is 0, the process proceeds to S3090, which will be described later.

[0104] Next, in S3060, the following equation {d=||g i -m i ||} is used to calculate the error between the survey control point and the X and Y coordinates in the map data.

[0105] Next, in S3070, the difference (error: d) found in S3060 is compared with a threshold (T), and if the difference is equal to or less than the threshold, it is determined in the next step, S3080, that index i has been secured. On the other hand, if the difference exceeds the threshold, the process proceeds to S3090, which will be described later.

[0106] Next, in S3090, the index i is incremented by 1, and the process returns to S3010.

[0107] In S3100, if the index i is greater than the Nth column in the correction matrix in S3010, the correction reference point (P j )

[0108] Next, in S3110, the correction reference point (P j If j in (j) is greater than M rows in the correction matrix, the process proceeds to the next step, S3120. On the other hand, the correction reference point (P j If j in (j) is smaller than the correction matrix, the process proceeds to S3160, the details of which will be described later.

[0109] Next, in S3120, the homography transformation matrix H j is derived.

[0110] Next, in S3130, the transformation matrix Hk is used to perform affine transformation of the above four points.

[0111] Next, in S3140, the error e between the RTK positioning value g' after affine transformation and the survey reference point m j The following equation {e j =||g' i -m i Derived by ||}.

[0112] Next, in S3150, the error e j The process of multiplying j by 1 is performed.

[0113] Next, in S3160, the homography transformation matrix H derived in S3120 is j Among them, the error e j A small transformation matrix H j will be selected.

[0114] Next, in S3170, the transformation matrix H j is output as the correction matrix, and the creation of the correction matrix is ​​completed.

[0115] [Explanation of the flowchart shown in Figure 10] FIG. 10 is a flowchart showing an example of data processing for calculating the direction and distance from the current position to a survey target point including a survey reference point, and for guiding a worker to the survey target point.

[0116] First, in S4010, the correction matrix created according to the procedure shown in the flowchart of FIG. 9 is read.

[0117] Next, in S4020, a list of survey control points recorded in surveys by administrative agencies and the like and publicly available as survey control point coordinate information is read.

[0118] Next, in S4030, a survey control point m to be searched is selected. The coordinates of this survey control point m are calculated based on its X and Y coordinates using the following formula {m=m x ,m y}.

[0119] Next, in S4040, it is determined whether or not there are any remaining survey control points m to be surveyed and searched. If there are no remaining search targets, the process ends. On the other hand, if there are any remaining operation targets, the process proceeds to the next step, S4050.

[0120] In S4050, the current position (latitude and longitude) of the RTK surveying equipment 200 is acquired by RTK positioning using the RTK module 210 provided in the RTK surveying equipment 200.

[0121] Next, in S4060, the RTK positioning results are corrected and converted into a plane rectangular coordinate system. The converted coordinates are calculated using the following equation {g=g x ,g y}.

[0122] Next, in S4070, if the correction matrix H exists, the process proceeds to the next step, S4080. On the other hand, if the correction matrix H does not exist, the process proceeds to S4100, which will be described later.

[0123] In S4080, an affine transformation expressed by the following equation {g'=H·g} is performed.

[0124] Next, in S4090, the target direction guide light mechanism 240 displays the direction to the location of the search target point including the survey reference point.

[0125] Next, in S4100, the coordinates of the survey control points searched as targets are recorded. That is, the following equation {g=g x , g yThe coordinates of the survey reference point represented by {} and the latitude and longitude of the survey reference point using the FIX or FLOAT solution obtained by the GNSS satellite are recorded as RTK positioning values. Then, the process returns to step S4030 described above, and the search process continues.

[0126] [Explanation of the flowchart shown in Figure 11] FIG. 11 is a flowchart showing an example of data processing for analyzing and outputting the difference between the RTK positioning results and the survey reference point coordinate information, which is part of the overall information processing in the survey point survey using the survey point survey RTK system 100.

[0127] First, in S5010, the correction matrix created according to the procedure shown in the flowchart of FIG. 9 is read.

[0128] Next, in S5020, a list of survey control points recorded in surveys by administrative agencies and the like and publicly available as survey control point coordinate information is read.

[0129] Next, in S5030, it is determined whether or not there is a measurement point, and if there is no measurement point, the process ends. On the other hand, if there are measurement points, the process proceeds to the next step, S5040.

[0130] In S5040, a survey control point m to be surveyed is selected. The coordinates of this survey control point m are calculated based on the X and Y coordinates of the point using the following formula {m=m x ,m y}.

[0131] Next, in S5050, the RTK positioning value recorded in S1080 in the flowchart of FIG. 7 and expressed by the following equation {g=(x, y)} is read.

[0132] Next, in S5060, correction processing is performed using an affine transformation expressed by the following equation {g'=H·g}.

[0133] Next, in S5070, a difference calculation is performed using the following formula {e=g'-m} to obtain the error e Ask for.

[0134] Next, in S5080, the corrected measurement points and the following equation {||e||, g' x -m x ,g' y -m y The error e represented by} is output as an analysis result file. Then, the process returns to step S5030 described above, and the analysis result creation process continues.

[0135] <Survey process using RTK system for surveying points> Next, the survey process using the survey point survey RTK system 100 of this embodiment will be explained in sequence with appropriate reference to Figures 12(a) to (d) and Figures 13(a) to (c) (also with appropriate reference to Figures 1 to 6). Figures 12(a) to (d) are schematic diagrams showing an example of a survey process on a map when RTK positioning is performed to record block reference points published by government agencies, etc., in a survey point survey using the survey point survey RTK system 100. Figures 13(a) to (c) are schematic diagrams showing on a map an example of a survey process when a survey point survey using the survey point survey RTK system 100 is performed to perform RTK positioning on a point that is not included in block reference point information published by an administrative agency, etc., and the positioning results are recorded.

[0136] [Explanation of the investigation process shown in Figures 12(a) to 12(d)] First, an outline of the survey of the survey reference points based on the block reference point coordinate information will be described with reference to FIGS. 12(a) to 12(d). Figure 12(a) shows the location of the surveying reference points recorded in the block reference point information (surveying reference point coordinate information). In the example shown, the locations of block reference points (surveying reference points) m1 to m6 are clear, but the exact location of block reference point m7 is unknown.

[0137] As shown in Figure 12(b), first, RTK positioning is performed directly above block reference point g7, and the positioning results are recorded. At this time, fixed solutions are obtained by RTK positioning for block reference points g1, g2, g4, g5, and g6, and a float solution is obtained by RTK positioning for block reference point g3.

[0138] Next, as shown in Figure 12(c), four block control points (survey control points) are selected from the RTK positioning of the FIX solution, and the optimal correction value is derived. In the illustrated example, block control points g1, g2, g5, and g6 are selected because they have the smallest error due to the FIX solution and correction matrix.

[0139] Then, as shown in Figure 12(d), all RTK surveyed values ​​are converted and corrected using the derived correction value. In the illustrated example, the block reference point g'1 is the corrected block reference point obtained by converting the block reference point g1 using the transformation matrix.

[0140] [Explanation of the investigation process shown in Figures 13(a) to 13(c)] Next, an outline of the operation of an unknown survey reference point in the survey reference point coordinate information will be described with reference to FIGS. 13(a) to 13(c). Figure 13(a) shows the location of survey reference points based on survey reference point coordinate information. In the illustrated example, the locations of survey reference points m1 to m6 are clear, but the exact location of survey reference point m7 is unknown.

[0141] 13(b), first, the target direction guiding light mechanism 240 is used to search for the survey reference point m7, the exact position of which is unknown, and the searched point is recorded as the block reference point g7. That is, the result of searching for the survey reference point m7 described in the survey reference point coordinate information using latitude and longitude is recorded as the block reference point g7.

[0142] Then, as shown in Figure 13(c), the position of the survey reference point m7 is estimated and recorded by converting the above result using the correction value derived in advance. The block reference point g'7 in Figure 13(c) is the block reference point g7 converted using the correction matrix.

[0143] <Action and effect> As described above, according to the present embodiment of the RTK system for survey point investigation, the RTK coordinate conversion and analysis device 340 provided in the RTK survey survey server 300 derives a correction value that minimizes the error between the survey reference point coordinate information and the RTK positioning results based on the survey reference point coordinate information and the correction reference point selected from the RTK positioning results. Furthermore, the system extracts survey reference points where no survey landmarks are found, and displays the corrected coordinates obtained by correcting these using the correction value on the map data on the display 290 of the RTK survey survey equipment 200. Using the survey point investigation RTK system 100 configured in this way to identify the location of the survey reference point enables time and labor saving in search operations. Furthermore, by RTK positioning the discovered survey landmarks and comparing them with the survey reference point coordinate information registered in local government information, etc., it is possible to accurately check the error relative to the position of the survey reference point at the time of installation and also to reduce the labor required for surveying. In addition, by recording lost surveying markers and identifying their locations and creating temporary markers with spray paint, etc., it is possible to efficiently create a list of work locations for hammering in metal nails or granite, thereby shortening the time required for searches. Furthermore, by performing RTK positioning of the survey reference point using the survey point investigation RTK system of this embodiment, it is possible to obtain geoid height in addition to latitude and longitude, which can be compared with the geoid height contained in the survey reference point coordinate information, making it possible to record changes in the terrain.

[0144] <Modifications of the present invention> The above describes in detail the embodiments of the present invention, but the survey point investigation RTK system of the present invention is not limited to the above embodiments, and various changes and modifications can be made without departing from the principles of the present invention and the scope of the appended claims. [Industrial Applicability]

[0145] The survey point investigation RTK system of the present invention can reduce the labor required for searching for and surveying survey control points, which are surveying markers installed on the ground, and can also calculate with high precision the error between the coordinates of the discovered survey control points and those registered in local government information, etc. Therefore, the survey point investigation RTK system of the present invention is extremely suitable for applications such as searching for survey control points made of surveying markers such as metal studs and granite, and conducting accurate surveying when determining construction positions and surveying for road construction work and various building construction projects. [Explanation of symbols]

[0146] 100...Survey point investigation RTK system 200...RTK surveying equipment 210...RTK module 220...GNSS antenna horizontal adjustment mechanism 230...Laser irradiation mechanism 240…Target direction guide light mechanism 241...LED light group LED1, LED2, LED3, LED4, LED5, LED6, LED7...LED lights 242...Electronic compass 250…Battery 260…Internet connection section 270…Handle 280...Telescopic support 300...RTK survey server 310...RTK module 320...Internet connection section 330...Database server 340...RTK coordinate conversion and analysis device 350...Survey control point map generation device 360…Battery

Claims

1. A survey point investigation RTK system that searches for the location of a survey control point installed on the ground based on survey control point coordinate information recorded in a survey by an administrative agency or the like, an RTK surveying investigation server including an RTK module that provides RTK positioning accuracy, a database server that records the survey control point coordinate information, the RTK positioning results obtained by RTK positioning the coordinates of the survey control points, and map data, and an RTK coordinate conversion and analysis device that derives correction values ​​for the RTK positioning results and outputs coordinates in a corrected plane rectangular coordinate system; an RTK surveying survey device including: an RTK module that performs RTK positioning of the coordinates of the survey reference point; a GNSS antenna horizontal adjustment mechanism that maintains the GNSS antenna provided in the RTK module that performs RTK positioning horizontally; a laser irradiation mechanism that is fixed below the GNSS antenna provided in the RTK module that performs RTK positioning to irradiate a laser beam toward the survey reference point and maintains the irradiation direction of the laser beam vertically downward by the GNSS antenna horizontal adjustment mechanism; a target direction guide light mechanism that displays the direction from the current position of the RTK module that performs RTK positioning to the location of the survey reference point; and a display that can display the map data including the survey reference point coordinate information recorded in the database server of the RTK surveying survey server, The RTK surveying server is configured to: four points are selected as correction reference points from the survey reference point coordinate information recorded in the database server and the RTK positioning results of the discovered survey landmark, and based on the correction reference points, the correction values ​​for each of the rotation angle, translation, and scale that have the smallest error between the survey reference point coordinate information and the RTK positioning results are derived; Furthermore, from the survey reference point coordinate information and the RTK positioning results, the survey reference points where the landmarked RTK positioning was performed are extracted from among the survey reference points where the landmarked RTK positioning was performed by aligning the position with the discovered survey landmark, and the survey reference points where the landmarkless RTK positioning was performed by aligning the position with the survey reference point coordinate information without the survey landmark being discovered, and the survey reference points where the landmarkless RTK positioning was performed are extracted, and the corrected coordinates obtained by correcting the survey reference point where the landmarkless RTK positioning was performed using the correction value are displayed on the map data on the display of the RTK surveying equipment.

2. The RTK surveying server is configured to: Receive the RTK positioning result obtained by RTK positioning the survey landmark using the RTK module of the RTK surveying and investigation equipment, convert the RTK positioning result into the plane rectangular coordinate system, and display the result on the map data on the display of the RTK surveying and investigation equipment as XY corrected coordinates obtained by calculating the X coordinate and the Y coordinate using the correction value. The survey point investigation RTK system according to claim 1, further comprising: calculating the difference between the XY corrected coordinates and the X and Y coordinates in the map data recorded in the database server using XY coordinate values ​​obtained by converting GNSS coordinates into the plane rectangular coordinate system and metric values; and displaying the calculated values ​​on the map data on the display.

3. The RTK surveying and investigation equipment is characterized in that the display device displays on the map data the survey reference point RTK-positioned by the RTK module that performs the RTK positioning, along with the corrected coordinates obtained by correcting the survey reference point RTK-positioned without landmarks using the correction value.

4. The RTK survey point investigation RTK system described in claim 2, characterized in that the RTK coordinate conversion and analysis device stores the correction values ​​derived based on the four correction reference points, and processes the differences between the multiple survey reference points and the X and Y coordinates in the map data in the RTK coordinate conversion and analysis device, using X and Y coordinate values ​​converted from GNSS coordinates to the plane rectangular coordinate system and metric values, thereby processing the differences between the X and Y correction coordinates and the X and Y coordinates in the map data in a single process.

5. The RTK surveying survey equipment calculates the distance and azimuth angle from the self-position of the RTK surveying survey equipment, which has been RTK-positioned by the RTK positioning module, to the location of the survey landmark using the XY correction coordinates, and displays the direction of the location of the survey reference point using the target direction guide light mechanism.

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