Positioning system

Abstract

To provide a positioning system that enables highly accurate measurements. [Solution] A positioning system 1 that measures the position information of characteristic points is equipped with multiple GNSS antennas 4a, 4b and a distance finder 6 that measures the distance to the characteristic points, and is equipped with a computer 10 that acquires each piece of position information measured by each antenna, selects from the acquired piece of position information each piece of position information where the separation between each GNSS antenna is within a specified error, measures the latitude, longitude and direction of the positioning point based on each selected piece of position information, acquires the distance to the characteristic point measured by the distance finder, and calculates the position information of the characteristic point based on the measured latitude, longitude and direction of the positioning point and the acquired distance to the characteristic point.

Description

[Technical field]

[0001] The present invention relates to a technique that is effective for determining the position information of feature points. [Background technology]

[0002] In recent years, with the expansion of positioning satellites such as the Quasi-Zenith Satellite Michibiki (US GPS, Russia GLONASS, Europe Galileo, China BeiDou, etc.), measurement technology using the Global Navigation Satellite System (GNSS) has been developing. For example, in Non-Patent Document 1, network-type RTK (Real-time kinematic) positioning is now possible based on the positioning satellites and data from electronic reference points operated by the Geospatial Information Authority of Japan. When certain conditions are met, the measurement error is 1 cm to 2 cm. [Prior art documents] [Patent documents]

[0003] [Non-Patent Document 1] Geospatial Information Authority of Japan, Document 2. Network-type RTK surveying, [online], [Retrieved May 6, 2024], Internet<URL: https: / / www.gsi.go.jp / common / 000080891.pdf> Summary of the Invention [Problem to be solved by the invention]

[0004] However, even with the "network-based RTK positioning" disclosed in Non-Patent Document 1, measurements in conditions such as amongst high-rise buildings, near the walls of buildings, or in the shade of trees can result in errors of up to several tens of centimeters, known as a FLOAT solution, but it is difficult to reduce the error to a few centimeters, known as a FIX solution. Therefore, the present inventors focused on a mechanism that would enable highly accurate measurements even under the above conditions.

[0005] An object of the present invention is to provide a positioning system that enables highly accurate measurements. [Means for solving the problem]

[0006] The present invention is a positioning system for measuring the position information of feature points, a location information acquisition unit that acquires each piece of location information measured by each of a plurality of GNSS antennas; A selection unit that selects, from among the acquired pieces of position information, each piece of position information in which the separation between each GNSS antenna is within a predetermined error; a measurement unit that measures the latitude, longitude, and direction of a positioning point based on each selected piece of location information; a distance acquisition unit that acquires the distances to the feature points measured by a distance measuring device; an indexing unit that indexes position information of the feature points based on the measured latitude, longitude, and direction of the positioning point and the acquired distances to the feature points; The present invention provides a positioning system comprising:

[0007] According to the present invention, the position information of the characteristic points is calculated using position information measured by each GNSS antenna that is within a predetermined error range. As a result, highly accurate measurements are possible.

[0008] Although the present invention is in the category of a system, the same functions and effects can be obtained with a method or a program. Effect of the Invention

[0009] According to the present invention, highly accurate measurements are possible. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an overview of a positioning system 1. [Diagram 2] FIG. 2 is a diagram illustrating a functional configuration of the positioning system 1. [Diagram 3] FIG. 4 is a flowchart showing an indexing process executed by the computer 10. [Figure 4] 1 is a diagram showing a schematic distribution of each piece of position information acquired by a computer 10. FIG. [Diagram 5] 1 is a diagram showing a schematic diagram of a table summarizing each piece of location information acquired by computer 10. FIG. [Figure 6] FIG. 13 is a flowchart showing a linking process executed by the computer 10. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In the following drawings, the same elements are designated by the same numbers or symbols throughout the description of the embodiments.

[0012] [Outline of Positioning System 1] 1 is a schematic diagram for explaining an overview of a positioning system 1. Components of the positioning system 1 will be described with reference to FIG. The positioning system 1 is a system that measures the position information of feature points 3, such as water meters and gas meters, installed around a building 2, and is composed of multiple (two in this embodiment) GNSS antennas 4 (a first GNSS antenna 4a and a second GNSS antenna 4b), a GNSS receiver 5, a distance measuring device 6, an information terminal 7, and a computer 10. The GNSS antenna 4 is an antenna that receives information transmitted by GNSS satellites. The GNSS antenna 4 transmits the received information to a GNSS receiver. The GNSS receiver 5 is a device that receives information transmitted by each GNSS antenna 4. The distance measuring device 6 is a laser distance measuring device with a pointer, and is a device that measures the distance to the feature point 3. The distance measuring device 6 may be equipped with an image taking device such as a camera 6a that takes an image of the feature point 3. The camera 6a is attached to the lower part of the distance measuring device 6, for example. The information terminal 7 is, for example, a mobile phone, a smartphone, a tablet terminal, or the like, and is a terminal device that captures an image of the feature point 3. The computer 10 has a server function and may be realized, for example, by a single computer, or may be realized by multiple computers such as a cloud computer. In this specification, a cloud computer may refer to either a scalable use of any computer to perform a specific function, or a computer that includes multiple functional modules to realize a system, the functions of which can be freely combined. In addition to the above-mentioned terminals and devices, the positioning system 1 may include other terminals and devices (for example, a specified server), and the number, type, and function of the terminals and devices are not particularly limited and can be designed appropriately. Furthermore, the number of GNSS antennas 4 is not limited to two and may be more than two.

[0013] An overview of the processing steps performed by the positioning system 1 when determining the position information of the feature point 3 will be described.

[0014] The computer 10 acquires each piece of position information measured by each of the multiple GNSS antennas 4 (step S1). The computer 10 acquires, via the GNSS receiver 5, its own position information that is acquired from the GNSS satellites by each of the first GNSS antenna 4a and the second GNSS antenna 4b.

[0015] The computer 10 selects, from among the acquired pieces of position information, pieces of position information in which the separation between the GNSS antennas 4 is within a predetermined error (step S2). The computer 10 selects, from among the acquired pieces of position information, pieces of position information whose separation is within a predetermined error (eg, 2 cm) and excludes pieces of position information whose separation is greater than this predetermined error (eg, 2 cm).

[0016] The computer 10 measures the latitude, longitude and direction of the positioning point based on each selected piece of position information (step S3). The computer 10 measures the position information (latitude, longitude, and altitude) of the positioning point by network-based RTK based on the position information of the selected first GNSS antenna 4a and the position information of the selected second GNSS antenna 4b. The positioning point is, for example, the location of the GNSS receiver 5 or the midpoint between the first GNSS antenna 4a and the second GNSS antenna 4b. The measurement module compares the position information of the selected first GNSS antenna 4a with the position information of the selected second GNSS antenna 4b, and measures the direction between the two points.

[0017] The computer 10 acquires the distance to the feature point 3 measured by the distance measuring device 6 (step S4). The distance measuring device 6 irradiates laser light onto the characteristic point 3 at a position that matches the height of the characteristic point 3, and measures the distance to the characteristic point 3 based on the time between when the laser light is irradiated and when the laser light is reflected from the characteristic point 3. The computer 10 acquires the distance to the characteristic point 3 measured by the distance measuring device 6 .

[0018] The computer 10 determines the position information of the characteristic point 3 based on the latitude, longitude and direction of the measured positioning point and the acquired distance to the characteristic point 3 (step S5). The computer 10 calculates the angle between the positioning point and the feature point 3 based on the measured direction of the positioning point and the acquired distance to the feature point 3. The computer 10 determines the position information of the feature point 3 based on this angle, the measured latitude and longitude of the positioning point, and the acquired distance to the feature point 3.

[0019] In addition, the computer 10 acquires an image of the characteristic point 3 captured by the information terminal 7, links the acquired image to the determined position information of the characteristic point 3, and uploads it to a predetermined server. The computer 10 also links the data of the determined position information of the characteristic point 3 to a facility management GIS (Geographic Information System). The computer 10 may acquire images of the feature points 3 captured by the camera 6a attached to the distance measuring device 6 instead of the information terminal 7, or may acquire images from both the information terminal 7 and the camera 6a.

[0020] The above is an overview of the positioning system 1. According to this positioning system 1, highly accurate measurements are possible.

[0021] [Device configuration] 2 is a block diagram showing the configuration of the positioning system 1. The device configuration of the positioning system 1 will be described with reference to FIG. The positioning system 1 is a system that measures the position information of a feature point 3, and is composed of multiple (two in this embodiment) GNSS antennas (a first GNSS antenna 4a and a second GNSS antenna 4b), a GNSS receiver 5, a rangefinder 6, an information terminal 7, and a computer 10. The positioning system 1 is a system in which a computer 10 is connected to a GNSS receiver 5, a distance measuring device 6, and an information terminal 7 so as to be capable of data communication via a network 8 such as a public line network. In addition, each GNSS antenna 4 is connected to the GNSS receiver 5 so as to be capable of data communication via wired or wireless communication or the like. In addition to the above-mentioned terminals and devices, the positioning system 1 may include other terminals and devices (for example, a specified server), and the number, types, and functions of the other terminals and devices can be designed as appropriate. Also, the number of GNSS antennas 4 is not limited to two, and may be more than two.

[0022] The GNSS antenna 4 is an antenna that receives information from GNSS satellites. The first GNSS antenna 4a and the second GNSS antenna 4b each receive information from a plurality of (four or more) GNSS satellites and measure its own position information (latitude, longitude, and altitude). The first GNSS antenna 4a and the second GNSS antenna 4b are arranged at a predetermined distance (20 to 30 cm, for example). The first GNSS antenna 4a and the second GNSS antenna 4b are arranged on a straight line with the feature point 3 whose position is to be determined (the feature point 3, the first GNSS antenna 4a, and the second GNSS antenna 4b are on the same straight line). The first GNSS antenna 4a and the second GNSS antenna 4b are arranged along the optical axis direction of the range finder 6. The first GNSS antenna 4a is arranged at a position closer to the feature point 3 than the second GNSS antenna 4b. It should be noted that the feature point 3, the first GNSS antenna 4a, and the second GNSS antenna 4b do not necessarily need to be arranged on a straight line, and can be designed as appropriate. In this embodiment, the feature points 3 are meters such as water meters and gas meters, and are arranged around the building 2. By arranging each GNSS antenna 4 on a straight line, the position information of two points can be determined with high accuracy (in centimeters). In addition, by having the feature point 3 and each GNSS antenna 4 on an extension line of a straight line, the distance measuring device 6 can measure the distance with high accuracy (in millimeters). Even if the feature point 3, the first GNSS antenna 4a, and the second GNSS antenna 4b are not arranged on a straight line, the position information of the two points can be determined with sufficiently high accuracy. Each GNSS antenna 4 transmits its own position information thus determined to the GNSS receiver 5 .

[0023] The GNSS receiver 5 is a device that receives information transmitted from each GNSS antenna 4 from a GNSS satellite and transmits the information to the computer 10. The GNSS receiver 5 has an MS5Stack built-in. The GNSS receiver 5 is disposed, for example, between the first GNSS antenna 4a and the second GNSS antenna 4b.

[0024] The distance measuring device 6 is a laser distance measuring device with a pointer. The distance measuring device 6 measures the distance to the feature point 3 by LiDAR (Light Detection And Ranging) from a position aligned with the height of the feature point 3. The distance measuring device 6 aims at the feature point 3 using a pointer. The distance measuring device 6 measures the distance from its current position to the point where the laser light is irradiated (corresponding to the feature point 3 in this embodiment). The distance measuring device 6 irradiates the feature point 3 with a laser light from a position within a predetermined distance (e.g., within 20 m) from the feature point 3. The distance measuring device 6 irradiates the laser light from a position at the midpoint between the feature point 3 and each GNSS antenna 4, and measures the distance. The distance measuring device 6 may be equipped with an image capturing device such as a camera 6a that captures an image of the feature point 3. The camera 6a is attached, for example, to the lower part of the distance measuring device 6. In this case, the camera 6a captures an image of the feature point 3 and transmits the captured image to the computer 10.

[0025] The information terminal 7 is a terminal device such as a mobile phone, smartphone, tablet terminal, etc., used by a person who measures the position information of the feature point 3. The information terminal 7 includes a central processing unit (CPU), a graphics processing unit (GPU), a random access memory (RAM), a read only memory (ROM), etc., as a terminal control unit, a device for enabling communication with other terminals, devices, etc., as a communication unit, and a device for inputting and outputting various data, an imaging device for imaging the feature point 3, etc., as an input / output unit. The information terminal 7 captures an image of the characteristic point 3 and transmits the captured image to the computer 10.

[0026] The computer 10 has a server function and may be realized, for example, by a single computer, or may be realized by multiple computers such as a cloud computer. The computer 10 has a control unit including a CPU, GPU, RAM, ROM, etc., and a communication unit including a device for enabling communication with other terminals and devices, a position information acquisition unit 11 for acquiring each piece of position information measured by each of the multiple GNSS antennas 4, and a distance acquisition unit 12 for acquiring the distance to the feature point 3 measured by the distance finder 6. The computer 10 includes, as its processing units, various devices for executing various processes, a selection unit 13 for selecting, from the acquired position information, each piece of position information for which the distance between each GNSS antenna 4 is within a specified error, a measurement unit 14 for measuring the latitude, longitude and direction of the positioning point based on each selected position information, and an identification unit 15 for calculating the position information of feature point 3 based on the measured latitude, longitude and direction of the positioning point and the acquired distance to feature point 3.

[0027] In the computer 10, the control unit loads a predetermined program, and thereby cooperates with the communication unit to realize a location information acquisition module, a distance acquisition module, an image acquisition module, and an upload module. In addition, in the computer 10, the control unit reads a predetermined program and cooperates with the processing unit to realize a selection module, a measurement module, an indexing module, a linking module, and a linking module.

[0028] Hereinafter, each process executed by the positioning system 1 will be described together with the process executed by each of the modules described above. In this specification, each module may execute its processing contents as its own function, or may execute its processing contents via a predetermined application.

[0029] [Indexing process executed by computer 10] The indexing process executed by the computer 10 will be described with reference to Fig. 3. This figure is a diagram showing a flowchart of the indexing process executed by the computer 10. This indexing process includes details of a position information acquisition process (step S1) for acquiring each piece of position information measured by each of the multiple GNSS antennas 4, a selection process (step S2) for selecting each piece of position information in which the distance between the GNSS antennas is within a predetermined error from among the acquired pieces of position information, a measurement process (step S3) for measuring the latitude, longitude, and direction of the positioning point based on each piece of selected position information, a distance acquisition process (step S4) for acquiring the distance to the feature point 3 measured by the distance finder 6, and an indexing process (step S5) for indexing the position information of the feature point 3 based on the measured latitude, longitude, and direction of the positioning point and the acquired distance to the feature point 3.

[0030] The position information acquisition module acquires each piece of position information measured by each of the multiple GNSS antennas 4 (step S10). The location information acquired by the location information acquisition module is the latitude, longitude, and altitude of each GNSS antenna 4. Each of the first GNSS antenna 4a and the second GNSS antenna 4b measures its own position information. The first GNSS antenna 4a obtains information related to its own position information from a GNSS satellite and measures its own position information. The second GNSS antenna 4b obtains information related to its own position information from a GNSS satellite and measures its own position information. Each of the first GNSS antenna 4a and the second GNSS antenna 4b transmits to the GNSS receiver 5 information about its own position that has been determined and the positioning time that is the time when the position was determined. The GNSS receiver 5 transmits to the computer 10 the position information and the positioning time received from each of the first GNSS antenna 4a and the second GNSS antenna 4b. The position information acquisition module receives each piece of position information, thereby acquiring each piece of position information determined by each of the multiple GNSS antennas 4. The location information acquisition module may acquire the location information directly from each GNSS antenna 4.

[0031] The selection module selects, from among the acquired pieces of position information, pieces of position information in which the separation between the GNSS antennas 4 is within a predetermined error (step S11). The predetermined error is, for example, 2 cm. For example, if the separation between the first GNSS antenna 4a and the second GNSS antenna 4b is 30 cm (the first GNSS antenna 4a is 15 cm away from the GNSS receiver 5, and the second GNSS antenna 4b is 15 cm away from the GNSS receiver 5), each piece of location information acquired by the location information acquisition module should be measurement data that recognizes this separation. However, data that deviates from this separation distance (for example, data in which the first GNSS antenna 4a is 25 cm away from the GNSS receiver 5 instead of 15 cm, and data in which the second GNSS antenna 4b is 5 cm away from the GNSS receiver 5) is often received. In order to exclude data that deviates from such a separation distance, the selection module selects each piece of location information within a predetermined error. As a result, highly accurate measurements are possible.

[0032] As an example, a case will be described in which the location information acquired by the location information acquisition module is as shown in Fig. 4. Fig. 4 is a diagram showing a schematic distribution of the location information acquired by the location information acquisition module. In the figure, a distribution diagram 20 is shown. In the distribution map 20, the acquired position information is shown as a point cloud 21. The selection module selects each piece of position information whose separation is within a predetermined error (e.g., 2 cm) from the point cloud 21. The selection module excludes and does not select each piece of position information whose separation is greater than a predetermined error (e.g., 2 cm) from the point cloud 21. As a result, as shown in FIG. 5, only the position information with the smallest error is selected. 5 is a diagram showing a typical table that compiles each piece of acquired position information. In the drawing, table 30 is shown. In table 30, each piece of position information with a separation error within a specified error (2 cm) is enclosed in a frame 31 as position information to be actually selected. The selection module selects the position information enclosed in this frame 31. Computer 10 uses the selected position information to execute the processing described below. Here, the selection module excludes position information that is not enclosed in this frame 31 (position information with a separation error greater than 2 cm). Computer 10 does not use the excluded position information when executing each processing described below. Note that the selection module can be configured not only not to select the excluded position information, but also to delete it.

[0033] Returning to FIG. 3, the rest of the indexing process will be described. The measurement module measures the latitude, longitude and direction of the positioning point based on each selected piece of position information (step S12). The direction in which the measurement module measures is with respect to feature point 3 . The measurement module determines the position information of the positioning point by network-based RTK based on the position information and positioning time of the selected first GNSS antenna 4a and the position information and positioning time of the selected second GNSS antenna 4b. The positioning point is, for example, the location of the GNSS receiver 5 or the midpoint between the first GNSS antenna 4a and the second GNSS antenna 4b. The measurement module compares the position information of the selected first GNSS antenna 4a with the position information of the selected second GNSS antenna 4b to measure the azimuth angle. In addition, the measurement module compares the altitude in the position information of the selected first GNSS antenna 4a with the altitude in the position information of the selected second GNSS antenna, and also measures the elevation angle of the selected second GNSS antenna 4b from the selected first GNSS antenna 4a. The processes executed by the measurement module may be executed by the GNSS receiver 5. In this case, the computer 10 only needs to acquire, from the GNSS receiver 5, the latitude, longitude, and direction of the positioning point measured by the GNSS receiver 5. Furthermore, when measuring position information by network RTK, the measurement module may measure the position information of each GNSS antenna 4 without relying on a reference station.

[0034] The distance acquisition module acquires the distance to the feature point 3 measured by the distance measuring device 6 (step S13). The range finder 6 irradiates the feature point 3 with a laser beam from a position that matches the height of the feature point 3. The position that matches the height of the feature point 3 is a position where the laser beam is irradiated, for example, at the center or inside of the feature point 3. The range finder 6 also irradiates the feature point 3 with a laser beam from a midpoint between the feature point 3 and the first GNSS antenna 4a and the second GNSS antenna 4b. When irradiating the laser beam, the range finder 6 aims the laser beam at the feature point 3 using a beam of a pointer. The distance measuring device 6 measures the distance from its own current position to the characteristic point 3 onto which it irradiates the laser light. The distance measuring device 6 irradiates the laser light onto the characteristic point 3, and measures the distance to the characteristic point 3 based on the time it takes for the laser light to be reflected from the characteristic point 3. Since the distance measuring device 6 irradiates the laser light at a position that matches the height of the characteristic point 3, the distance to the characteristic point 3 measured by the distance measuring device 6 can be regarded as the distance from the distance measuring device 6 to the characteristic point 3. The distance measuring device 6 transmits the measured distance to the characteristic point 3 as the distance to the characteristic point 3 to the computer 10 . The distance acquisition module receives the distance to the characteristic point 3 , and thereby acquires the distance to the characteristic point 3 measured by the distance measuring device 6 .

[0035] The image acquisition module acquires an image capturing the feature point 3 (step S14). The information terminal 7 starts a photography application installed therein based on an input from the person performing positioning. The information terminal 7 uses this photography application to capture an image of the feature point 3. For example, the person taps an icon of the photography application on the information terminal 7 or performs a predetermined input operation to capture an image of the feature point 3 with the information terminal 7. The information terminal 7 transmits the captured image to the computer 10. At this time, the information terminal 7 may add information about the captured feature point 3 (the name of the feature point 3, the place or name of the building where the feature point 3 is installed, the date and time of capture, the photographer, etc.) as metadata, and transmit the image including this metadata to the computer 10. The image acquisition module receives this image and thereby acquires an image of the feature point 3 . The process of step S14 may be performed simultaneously with the process of step S13, or may be performed before the process of step S13 is executed. The computer 10 may acquire the image of the feature point 3 captured by the camera 6a instead of the information terminal 7, or may acquire images from both the information terminal 7 and the camera 6a.

[0036] The determination module determines the position information of the characteristic point 3 based on the latitude, longitude, and direction of the measured positioning point and the acquired distance to the characteristic point 3 (step S15). The indexing module calculates the angle from the positioning point to the characteristic point 3 based on the measured direction and the acquired distance. The indexing module calculates the distance from the positioning point to the characteristic point 3 based on the calculated angle and the acquired distance. The determination module determines the position information of feature point 3 based on the measured latitude and longitude of the positioning point and the calculated distance from the positioning point to feature point 3. The determination module adds the calculated distance to feature point 3 to each of the measured latitude and longitude of the positioning point. The determination module regards this calculation result as the position information of feature point 3, and determines the position information of feature point 3. The indexing module is able to index the position information of the feature point 3 with high accuracy from the position information of each GNSS antenna 4 and the distance of each GNSS antenna 4 from the midpoint.

[0037] The above is the indexing process. Although the indexing process has been described as a process executed by the computer 10, it may be a process executed by the information terminal 7. In this case, each process executed by the computer 10 may be executed by the information terminal 7.

[0038] [Cooperation processing performed by computer 10] The cooperative processing executed by the computer 10 will be described with reference to Fig. 6. The figure shows a flowchart of the cooperative processing executed by the computer 10.

[0039] The linking module links the acquired image to the position information of the determined feature point 3 (step S20). The linking module performs operations such as adding the position information of the determined feature point 3 to the metadata of the acquired image, and links the acquired image to the position information of the determined feature point 3. The process executed by the linking module can be designed as appropriate.

[0040] The upload module uploads the location information associated with the image to a predetermined server (step S21). The upload module transmits the image linked to the location information to a specific server, thereby uploading the location information linked to the image to the specific server.

[0041] The linking module links the position information of the determined characteristic points 3 to the facility management GIS (step S22). The linking module registers the position information of the determined characteristic points 3 in a facility management GIS that is installed in advance in the computer 10, and links the data. When linking data of location information, the linking module may also link data of an image linked to the location information.

[0042] The above is the linkage process.

[0043] In the above embodiment, the positioning system 1 obtains the position information of the feature point 3 by network-based RTK positioning, but the present invention may be implemented by a method other than network-based RTK positioning, for example, the CLAS method, which is a satellite positioning technology. Even if the positioning system 1 is implemented by the CLAS method, it is possible to execute the same process as the above-mentioned process.

[0044] In the embodiment described above, the positioning system 1 has the GNSS antennas 4 arranged in the direction of the optical axis of the range finder 6. However, the positioning system 1 may also be configured to arrange the GNSS antennas 4 perpendicular to the optical axis of the range finder 6. This case will be briefly described. The processes executed by the computer 10 are common to both except for a part of them. The difference is the method of measuring the position and elevation angle of the range finder 6. The distance measuring device 6 is attached to an article such as a helmet or hat worn on the head of the person performing positioning. The place where the distance measuring device 6 is attached is not necessarily limited to the head of the person performing positioning. In addition, the type of the article is not particularly limited. The method for measuring the azimuth angle by the computer 10 is similar to the above-mentioned process. On the other hand, when measuring the elevation angle, the computer 10 measures the elevation angle based on the detection result of an acceleration sensor or the like attached to an article worn by a person performing positioning. The computer 10 can determine the position information of the characteristic point 3 based on the azimuth angle and elevation angle and the distance to the characteristic point 3 measured by the distance measuring device 6. According to such a positioning system 1, the person performing positioning has both hands free, so that it becomes easy to take an image and store the position information using the information terminal 7.

[0045] The above-mentioned means and functions are realized by a computer (including a CPU, an information processing device, and various terminals) reading and executing a predetermined program. The program may be provided, for example, from a computer via a network (Software as a Service (SaaS)) or as a cloud service. The program may also be provided in a form recorded on a computer-readable recording medium. In this case, the computer reads the program from the recording medium, transfers it to an internal or external recording device, records it, and executes it. The program may also be recorded in advance on a recording device (recording medium) and provided from the recording device to the computer via a communication line.

[0046] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned embodiments. In addition, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0047] A first aspect disclosed in this embodiment is a positioning system that measures position information of a feature point, a location information acquisition unit 11 that acquires each piece of location information measured by each of a plurality of GNSS antennas; A selection unit 13 that selects, from among the acquired pieces of position information, pieces of position information in which the separation between the GNSS antennas is within a predetermined error; a measurement unit 14 for measuring the latitude, longitude and direction of a positioning point based on each of the selected position information; a distance acquisition unit 12 for acquiring the distances to the feature points measured by a distance measuring device; an indexing unit 15 for indexing position information of the characteristic points based on the measured latitude, longitude and direction of the positioning point and the acquired distances to the characteristic points; The present invention provides a positioning system comprising: [Explanation of symbols]

[0048] 1 Positioning System 2 Buildings 3. Feature points 4 GNSS antennas 4a First GNSS antenna 4b Second GNSS antenna 5 GNSS receiver 6 Range finder 6a Camera 7 Information terminal 8 Network 10. Computers 11 Location information acquisition section 12 Distance acquisition section 13 Selection section 14 Measurement section 15 Index part 20 Distribution Map 21 point cloud 30 Tables 31 Border

Claims

[Claim 1] A positioning system for measuring position information of a feature point, A location information acquisition unit that acquires each piece of location information measured by each of a plurality of GNSS antennas; A selection unit that selects, from among the acquired pieces of position information, each piece of position information in which the separation between each GNSS antenna is within a predetermined error; a measurement unit that measures the latitude, longitude, and direction of a positioning point based on each selected piece of location information; a distance acquisition unit that acquires the distances to the feature points measured by a distance measuring device; an indexing unit that indexes position information of the feature points based on the measured latitude, longitude, and direction of the positioning point and the acquired distances to the feature points; A positioning system comprising:

Images