Program, method, information processing device, and system

Abstract

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

Description

[Technical field]

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

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

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

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

[0005] An object of the present disclosure is to enable measurement data measured by a GNSS receiver to be corrected taking true north into account in a terminal device receiving the measurement data. [Means for solving the problem]

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

[0007] According to the present disclosure, it is possible to correct measurement data measured by a GNSS receiver in a terminal device taking true north into account. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an example of the overall configuration of a system 1. FIG. [Diagram 2] 2 is a block diagram illustrating a configuration example of a GNSS receiver 20 shown in FIG. [Diagram 3] 2 is a block diagram illustrating an example of the configuration of a terminal device 10 shown in FIG. [Figure 4] 4 is a schematic diagram illustrating an operation of the terminal device 10 according to the present embodiment for calculating a correction value. FIG. [Diagram 5] 10 is a flowchart illustrating an example of an operation performed by the terminal device 10 when calculating a correction value. [Figure 6] 2 is a schematic diagram showing an example of a guide display displayed on the terminal device 10. FIG. [Figure 7] 13 is a schematic diagram showing another example of a guide display displayed on the terminal device 10. FIG. [Figure 8] 2 is a schematic diagram showing an example of a guide display displayed on the terminal device 10. FIG. [Figure 9]FIG. 2 is a block diagram showing the basic hardware configuration of a computer 90. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0010] <Summary> The terminal device of this embodiment calculates a correction value for correcting the rotation matrix measured by the GNSS receiver, taking true north into account, based on the coordinates and rotation matrix measured when the GNSS receiver is positioned in multiple directions.

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

[0012] The terminal device 10 shown in Fig. 1 is an information processing device operated by a user that measures the position of topography and the like using a GNSS receiver 20. The terminal device 10 is realized by, for example, a mobile terminal such as a smartphone or a tablet. The terminal device 10 may be a stationary personal computer (PC) or a laptop PC. The terminal device 10 may be a wearable terminal such as a head mounted display (HMD) or a wristwatch type terminal.

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

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

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

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

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

[0018] Moreover, the communication unit 201 performs reception processing on a signal received from the terminal device 10 and outputs the signal to the control unit 209. Specifically, the communication unit 201 receives, for example, a signal for operating the GNSS receiver 20 transmitted from the terminal device 10, and performs reception processing on the received signal. More specifically, the communication unit 201 transmits, for example, a signal for switching the state (mode) of the GNSS receiver 20 transmitted from the terminal device 10. The modes of the GNSS receiver 20 include, for example, a first mode, a second mode, and a third mode. The first mode is a mode in which measurements are performed by the position information sensor 205, the tilt sensor 206, and the electronic compass 207. The second mode is a mode in which the terminal device 10 calculates a correction value taking true north into consideration. The third mode is a mode in which calibration of the tilt sensor 206 or the electronic compass 207 is performed.

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

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

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

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

[0023] The electronic compass 207 is a direction sensor using a semiconductor, and detects the north-south geomagnetism to calculate the direction. Any known technology may be used, such as one using an MR element or a GMR element.

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

[0025] The control unit 209 is realized by the processor reading a program stored in the storage unit 208 and executing instructions included in the program. The control unit 209 controls the operation of the GNSS receiver 20. The control unit 209 operates according to the program to fulfill the functions of an operation reception unit 2091, a transmission / reception unit 2092, a measurement control unit 2093, a switching control unit 2094, and a presentation control unit 2095.

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

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

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

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

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

[0031] Furthermore, the presentation control unit 2095 controls the output device 204 to present information related to the measurement to the user. Specifically, for example, the presentation control unit 2095 controls the output of the output device 204 so that the set mode can be recognized.

[0032] <1.2 Terminal device configuration> Fig. 3 is a block diagram showing a configuration example of the terminal device 10 shown in Fig. 1. As shown in Fig. 3, the terminal device 10 includes a communication unit 120, an input device 13, an output device 14, an audio processing unit 17, a microphone 171, a speaker 172, a camera 160, a position information sensor 150, a storage unit 180, and a control unit 190. The blocks included in the terminal device 10 are electrically connected to each other, for example, by a bus or the like.

[0033] The communication unit 120 performs processing such as modulation and demodulation processing for the terminal device 10 to communicate with other devices. The communication unit 120 performs transmission processing on the signal generated by the control unit 190 and transmits the signal to the GNSS receiver 20. The communication unit 120 performs reception processing on the signal received from the GNSS receiver 20 and outputs the signal to the control unit 190.

[0034] The input device 13 is a device for inputting instructions or information by a user who operates the terminal device 10. The input device 13 is realized, for example, by a touch-sensitive device 131 or the like in which an instruction is input by touching an operation surface. In the case where the terminal device 10 is a PC or the like, the input device 13 may be realized by a reader, a keyboard, a mouse, or the like. The input device 13 converts an instruction input by a user into an electrical signal, and outputs the electrical signal to the control unit 190. Note that the input device 13 may include, for example, a receiving port that receives an electrical signal input from an external input device.

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

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

[0037] The camera 160 is a device for receiving light with a light receiving element and outputting the received light as an image capturing signal.

[0038] The position information sensor 150 is a sensor that detects the position of the terminal device 10, and is, for example, a GPS module. The GPS module is a receiving device used in a satellite positioning system. In the satellite positioning system, signals are received from at least three or four satellites, and the current position of the terminal device 10 equipped with the GPS module is detected based on the received signals. The position information sensor 150 may detect the current position of the terminal device 10 from the position of the wireless base station to which the terminal device 10 is connected.

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

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

[0041] The operation reception unit 191 performs processing for receiving an instruction input from the input device 13. Specifically, for example, the operation reception unit 191 receives an instruction input from the touch-sensitive device 131 or the like.

[0042] Furthermore, the operation reception unit 191 receives voice instructions input from the microphone 171. Specifically, for example, the operation reception unit 191 receives a voice signal input from the microphone 171 and converted into a digital signal by the voice processing unit 17. For example, the operation reception unit 191 analyzes the received voice signal and extracts a predetermined noun, thereby acquiring an instruction from the user.

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

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

[0045] More specifically, the first calculation unit 193 acquires coordinates measured by the position information sensor 205 when the grounding portion 213 is fixed and the pole 21 is set up vertically. Furthermore, the first calculation unit 193 acquires coordinates measured by the position information sensor 205 at each position when the pole 21 is tilted in multiple directions. At this time, the positions from which the coordinates are acquired are not located on the same plane. The first calculation unit 193 converts the acquired coordinates into ECEF (Earth Centered, Earth Fixed: Earth-centered, Earth-fixed Cartesian coordinate system).

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

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

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

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

[0050] When the length of the pole 21 is known, the first calculation unit 193 may determine whether or not the correction value has been correctly calculated based on the calculated length of the pole 21. Specifically, for example, the first calculation unit 193 may compare a preset length of the pole 21 with the calculated length of the pole 21, and if the difference does not satisfy a predetermined condition, may repeat the process from the operation of rotating the GNSS receiver 20 again.

[0051] In addition, the first calculation unit 193 may calculate the correction value multiple times, and store in the memory unit 180 the correction value calculated when the difference between the preset length of the pole 21 and the calculated length of the pole 21 is smallest.

[0052] Furthermore, when the length of the pole 21 is known, the first calculation unit 193 does not need to calculate the length of the pole 21. In the above, the coordinates of the fixed point are calculated based on the coordinates of the ECEF acquired at four or more positions, but when the length of the pole 21 is known, the number of coordinates used in the calculation may be reduced.

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

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

[0055] <2 operations> The operation of the terminal device 10 when calculating a correction value taking true north into account will be described.

[0056] 4 is a schematic diagram showing an operation of the terminal device 10 according to the present embodiment to calculate a correction value. The terminal device 10 calculates a correction value that takes true north into consideration based on data measured at positions where the GNSS receiver 20 is tilted in multiple directions, and stores the calculated correction value in the storage unit 180.

[0057] FIG. 5 is a flowchart illustrating an example of an operation performed by the terminal device 10 when calculating a correction value.

[0058] A user operating the terminal device 10 launches, for example, an application for measuring a terrain using the GNSS receiver 20. The application has a calibration mode according to the present embodiment for calculating a correction value taking true north into consideration. The user operates the terminal device 10 to instruct calculation of a correction value in the calibration mode.

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

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

[0061] FIG. 6 is a schematic diagram showing an example of a guide display displayed on the terminal device 10. In the example shown in FIG. 6, a window 1411 and an area 1412 are displayed. The window 1411 explains, in text, the action that the user should take. The area 1412 is an area that shows, in images, the action that the user should take. The user refers to the image displayed in the area 1412, fixes the grounding part 213 and stands the pole 21 vertically, or rotates the pole 21 while keeping the grounding part 213 fixed. The text displayed in the window 1411 may be output as sound from the speaker 172.

[0062] 7 is a schematic diagram showing another example of a guide display displayed on the terminal device 10. In the example shown in FIG. 7, the GNSS receiver 20 is tilted multiple times in a predetermined direction instead of being rotated. The user refers to the image displayed on the display 141, fixes the grounding part 213, and stands the pole 21 vertically, or tilts the pole 21 in the indicated direction while keeping the grounding part 213 fixed. The characters displayed in the window 1411 may be output as voice from the speaker 172.

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

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

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

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

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

[0068] When the length of the pole 21 is known, the first calculation unit 193 may determine whether the correction value has been correctly calculated based on the calculated length of the pole 21. Specifically, for example, the first calculation unit 193 compares a preset length of the pole 21 with the calculated length of the pole 21, and when the difference does not satisfy a predetermined condition, for example, when the difference is not within a predetermined range, the process proceeds to step S12. In step S12, the presentation control unit 195 causes the display 141 to display an action to be taken by the user in the measurement during calibration.

[0069] FIG. 8 is a schematic diagram showing an example of a guide display displayed on the terminal device 10. In the example shown in FIG. 8, a window 1411 and an area 1412 are displayed. The window 1411 explains, in text, the action that the user should take. The area 1412 is an area that shows, in images, the action that the user should take. The user refers to the image displayed in the area 1412, fixes the grounding part 213, stands the pole 21 vertically, and repeats the action of rotating the pole 21 while keeping the grounding part 213 fixed. The text displayed in the window 1411 may be output as sound from the speaker 172.

[0070] As described above, in the above embodiment, the control unit 190 of the terminal device 10 installs the GNSS receiver 20 at one end of the pole 21, fixes the other end of the pole 21 at a reference position, and acquires a plurality of coordinates when the one end is tilted in a plurality of different directions by the first calculation unit 193. The first calculation unit 193 acquires a first rotation matrix when the one end is tilted in a first direction. The first calculation unit 193 calculates a second rotation matrix that serves as a reference when the one end is tilted in the first direction based on the plurality of coordinates. The first calculation unit 193 calculates a correction value from the difference between the second rotation matrix and the first rotation matrix. This allows the first calculation unit 193 to calculate a correction value for correcting the rotation matrix measured by the GNSS receiver 20 with high accuracy even without acquiring true north. This allows the first calculation unit 193 to calculate a correction value for the rotation matrix measured by the GNSS receiver 20 with a simple operation.

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

[0072] Furthermore, in the above embodiment, the first calculation unit 193 calculates the length of the pole 21 based on a plurality of coordinates. When the difference between the calculated length of the pole 21 and the actual length of the pole 21 does not satisfy a predetermined condition, the first calculation unit 193 proposes to acquire the correction value again. This enables the first calculation unit 193 to recalculate the correction value when there is a possibility that the error included in the correction value is large, and makes it possible to calculate an accurate correction value.

[0073] Furthermore, in the above embodiment, the first calculation unit 193 calculates the length of the pole 21 based on multiple coordinates. The first calculation unit 193 calculates the correction value multiple times by performing an operation of tilting one end of the pole 21 in multiple directions. The first calculation unit 193 adopts the correction value calculated when the difference between the length of the pole 21 when the correction value was calculated and the actual length of the pole 21 is minimum. This enables the first calculation unit 193 to adopt an accurately calculated correction value.

[0074] In the above embodiment, the first calculation unit 193 acquires a plurality of coordinates when one end of the pole 21 is moved in a circular manner. This allows the first calculation unit 193 to calculate a correction value by simply moving the pole 21 in a circular manner without knowing true north.

[0075] In the above embodiment, the first calculation unit 193 acquires coordinates when the pole 21 is vertically erected and when the inclination directions of the pole 21 differ by approximately 120 degrees. This allows the first calculation unit 193 to calculate a correction value by simply moving the pole 21 in a predetermined direction without knowing true north.

[0076] In the above embodiment, the pole 21 has a length equal to or greater than a predetermined length. This allows the first calculator 193 to calculate a highly reliable correction value even if the position information sensor 205 has an error.

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

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

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

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

[0081] The auxiliary storage device 93 is a storage device for saving data and programs, such as a flash memory, a hard disk drive (HDD), a magneto-optical disk, a CD-ROM, a DVD-ROM, or a semiconductor memory.

[0082] The communication IF 99 is an interface for inputting and outputting signals for communicating with other computers via a network using a wired or wireless communication standard. The network is composed of the Internet, a LAN, various mobile communication systems constructed by wireless base stations, etc. For example, the network includes 3G, 4G, 5G mobile communication systems, LTE (Long Term Evolution), wireless networks that can connect to the Internet via a specified access point (e.g., Wi-Fi (registered trademark)), etc. In the case of wireless connection, communication protocols include, for example, Z-Wave (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), etc. In the case of wired connection, the network also includes a network that is directly connected by a USB (Universal Serial Bus) cable or the like.

[0083] It should be noted that the computer 90 can be virtually realized by distributing all or part of each hardware configuration among multiple computers 90 and connecting them together via a network. In this way, the computer 90 is a concept that includes not only a computer 90 housed in a single housing or case, but also a virtualized computer system.

[0084] <Basic functional configuration of computer 90> A description will now be given of the functional configuration of a computer realized by the basic hardware configuration of a computer 90 shown in Fig. 9. The computer includes at least the functional units of a control unit, a storage unit, and a communication unit.

[0085] The functional units of the computer 90 can also be realized by distributing all or part of the functional units among multiple computers 90 connected to each other via a network. The computer 90 is a concept that includes not only a single computer 90 but also a virtualized computer system.

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

[0087] The storage unit is realized by a main storage device 92 and an auxiliary storage device 93. The storage unit stores data, various programs, and various databases. Furthermore, the processor 91 can secure a storage area corresponding to the storage unit in the main storage device 92 or the auxiliary storage device 93 in accordance with a program. Furthermore, the control unit can cause the processor 91 to execute processes of adding, updating, and deleting data stored in the storage unit in accordance with the various programs.

[0088] A database refers to a relational database, which is used to manage data sets called tables, which are structured according to rows and columns, by relating them to each other. In a database, a table is called a table, a column in a table is called a column, and a row in a table is called a record. In a relational database, it is possible to set relationships between tables and associate them. Usually, a column is set in each table as a key for uniquely identifying a record, but setting a key in the column is not essential. The control unit can cause the processor 91 to add, delete, or update records in a specific table stored in the storage unit according to various programs.

[0089] The communication unit is realized by the communication IF 99. The communication unit realizes a function of communicating with other computers 90 via a network. The communication unit can receive information transmitted from other computers 90 and input the information to the control unit. The control unit can cause the processor 91 to execute information processing on the received information in accordance with various programs. In addition, the communication unit can transmit information output from the control unit to other computers 90.

[0090] Although several embodiments of the present disclosure have been described above, these embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and modifications are within the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention.

[0091] <Additional Notes> The matters described in the above embodiments will be supplemented below. (Appendix 1) A program to be executed by a computer having a processor and a memory, the program including the steps of: installing a GNSS (Global Navigation Satellite System) receiver on one end of a pole, fixing the other end of the pole at a reference position, and acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; acquiring a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the plurality of directions; calculating a second rotation matrix that serves as a reference when the one end is tilted in at least one of the plurality of directions based on the plurality of coordinates; and calculating a correction value from a difference between the second rotation matrix and the first rotation matrix. A program that executes the following. (Appendix 2) A program described in Appendix 1 that causes a processor to execute the steps of calculating the pole length based on multiple coordinates, and, if the difference between the calculated pole length and the actual pole length does not satisfy a predetermined condition, suggesting that a correction value be obtained again. (Appendix 3) The program described in Appendix 1 causes a processor to execute the steps of: calculating the length of the pole based on multiple coordinates; and calculating a correction value multiple times by tilting one end of the pole in multiple directions, and adopting the calculated correction value when the difference between the pole length when the correction value was calculated and the actual pole length is minimum. (Appendix 4) In the step of acquiring coordinates, a plurality of coordinates are acquired when one end is moved in a circular motion (Appendix 1). (Appendix 5) In the step of acquiring coordinates, the program described in (Appendix 1) acquires coordinates when the pole is held vertically and when the inclination directions of the pole differ by approximately 120 degrees. (Appendix 6) The program described in (Appendix 1), wherein the pole is equal to or greater than a predetermined length. (Appendix 7) A program to be executed by a computer having a processor and a memory, the program causing the processor to execute the following steps: installing a GNSS receiver at one end of a pole, fixing the other end of the pole at a reference position, and acquiring multiple coordinates measured by the GNSS receiver when one end is tilted in multiple different directions; acquiring a rotation matrix measured by the GNSS receiver when one end is tilted in at least one of the multiple directions; and calculating a correction value of the rotation matrix taking into account true north based on the multiple coordinates and the rotation matrix. (Appendix 8) A method executed by a computer having a processor and a memory, wherein the processor executes the following steps: installing a GNSS receiver at one end of a pole, fixing the other end of the pole at a reference position, and acquiring multiple coordinates measured by the GNSS receiver when the one end is tilted in multiple different directions; acquiring a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; calculating a second rotation matrix that serves as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; and calculating a correction value from the difference between the second rotation matrix and the first rotation matrix. (Appendix 9) An information processing device comprising a control unit and a memory unit, wherein the control unit executes the steps of: installing a GNSS receiver at one end of a pole, fixing the other end of the pole at a reference position, and acquiring multiple coordinates measured by the GNSS receiver when the one end is tilted in multiple different directions; acquiring a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; calculating a second rotation matrix that serves as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; and calculating a correction value from the difference between the second rotation matrix and the first rotation matrix. (Appendix 10) A system comprising a GNSS receiver and an information processing device, wherein the information processing device comprises: means for acquiring multiple coordinates measured by the GNSS receiver when the GNSS receiver is installed on one end of a pole, the other end of the pole is fixed at a reference position, and one end is tilted in multiple different directions; means for acquiring a first rotation matrix measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; means for calculating a second rotation matrix that serves as a reference when the one end is tilted in at least one of the multiple directions based on the multiple coordinates; and means for calculating a correction value from the difference between the second rotation matrix and the first rotation matrix. [Explanation of symbols]

[0092] 1. System 10...Terminal device 120…Communications Department 13...Input device 131...Touch-sensitive devices 14...Output device 15…Memory 16…Storage 19…Processor 20…GNSS receiver

Claims

1. A program for causing a computer having a processor and a memory to execute the program, the program causing the processor to: A method for measuring a number of coordinates measured by a Global Navigation Satellite System (GNSS) receiver installed at one end of a pole, the other end of the pole fixed at a reference position, and the one end tilted in a number of different directions; Obtaining a first rotation matrix defined by roll, pitch, and yaw relative to a direction set as magnetic north, measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; A step of calculating a second rotation matrix defined by roll, pitch, and yaw with respect to a direction set as true north, which is a reference when the one end is tilted in at least one of the multiple directions, based on the multiple coordinates; calculating a correction value for correcting the first rotation matrix from a difference between the second rotation matrix and the first rotation matrix; A program that executes the following.

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

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

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

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

6. 2. The program according to claim 1, wherein the pole is 1 m or longer.

7. 1. A computer-implemented method comprising a processor and a memory, the processor comprising: A method for measuring a number of coordinates measured by a Global Navigation Satellite System (GNSS) receiver installed at one end of a pole, the other end of the pole fixed at a reference position, and the one end tilted in a number of different directions; Obtaining a first rotation matrix defined by roll, pitch, and yaw relative to a direction set as magnetic north, measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; A step of calculating a second rotation matrix defined by roll, pitch, and yaw with respect to a direction set as true north, which is a reference when the one end is tilted in at least one of the multiple directions, based on the multiple coordinates; calculating a correction value for correcting the first rotation matrix from a difference between the second rotation matrix and the first rotation matrix; How to do it.

8. An information processing device including a control unit and a storage unit, A method for measuring a number of coordinates measured by a Global Navigation Satellite System (GNSS) receiver installed at one end of a pole, the other end of the pole fixed at a reference position, and the one end tilted in a number of different directions; Obtaining a first rotation matrix defined by roll, pitch, and yaw relative to a direction set as magnetic north, measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; A step of calculating a second rotation matrix defined by roll, pitch, and yaw with respect to a direction set as true north, which is a reference when the one end is tilted in at least one of the multiple directions, based on the multiple coordinates; calculating a correction value for correcting the first rotation matrix from a difference between the second rotation matrix and the first rotation matrix; An information processing device that executes the above.

9. A system including a Global Navigation Satellite System (GNSS) receiver and an information processing device, A GNSS receiver is installed at one end of a pole, the other end of the pole is fixed at a reference position, and a means for acquiring a plurality of coordinates measured by the GNSS receiver when the one end is tilted in a plurality of different directions; A means for acquiring a first rotation matrix defined by roll, pitch, and yaw relative to a direction set as magnetic north, measured by the GNSS receiver when the one end is tilted in at least one of the multiple directions; A means for calculating a second rotation matrix defined by roll, pitch, and yaw with respect to a direction set as true north, which is a reference when the one end is tilted in at least one of the multiple directions, based on the multiple coordinates; a means for calculating a correction value for correcting the first rotation matrix from a difference between the second rotation matrix and the first rotation matrix; A system comprising:

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