Surveying data processing device, surveying data processing method, and surveying data processing program

Abstract

To obtain more easily information on a machine point of a surveying instrument.SOLUTION: A survey data processing device accepts positioning data obtained by positioning a flying UAV 300 at a plurality of positions using a surveying device 100 with known external orientation elements and a surveying device 200 with unknown external orientation elements, obtains positioning data having a corresponding relationship between the positioning data of the UAV 300 by the surveying instrument 100 and the positioning data of the UAV 300 by the surveying instrument 200, and determines a position of the surveying device 200 by the backward intersection method based on the positioning data having the corresponding relationship.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique used when installing a surveying instrument. [Background technology]

[0002] Surveying equipment such as a total station (TS) needs to determine its installation position. Specifically, it is necessary to obtain data on the position of the equipment in the coordinate system being used. This is a fundamental aspect of surveying work. The position of this equipment is also called the instrument position or instrument point. The process is also called obtaining the instrument point or setting up the instrument point.

[0003] A classic method is to use a surveying device whose position is known to survey an instrument point whose position is unknown. Another method is to measure the position of an instrument point by relative positioning using GNSS. For example, Patent Document 1 describes a technology for calculating the position of an instrument point using a three-dimensional model. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-203742 Summary of the Invention [Problem to be solved by the invention]

[0005] The method of measuring the position of a machine point using a surveying device can only be applied if the machine point is in a position that can be seen from the surveying device. Furthermore, the method of relative positioning using GNSS requires dedicated equipment and is limited in its use because it is necessary to obtain information from reference stations. Furthermore, the method using GNSS has limitations in that the number of navigation satellites that can be used is limited in mountainous areas, and positioning accuracy may not be ensured. Furthermore, the method using a three-dimensional model requires the three-dimensional model to be prepared in advance.

[0006] In this context, an object of the present invention is to provide a technique that allows for more easily obtaining information on the instrument points of a surveying instrument. [Means for solving the problem]

[0007] The present invention provides Exterior orientation parameters are known The aircraft positioning data obtained by the first surveying device and Exterior orientation parameters are unknown The positioning data of the aircraft by the second surveying device Ta a positioning data acquisition unit for acquiring the positioning data; The positioning data of the aircraft obtained by the first surveying device and the positioning data of the aircraft obtained by the second surveying device and a position calculation unit of the surveying instrument that calculates at least one of the position and the attitude of the second surveying instrument based on the above. Pn is the position data of the aircraft measured by one of the first surveying instrument and the second surveying instrument at time Tn, Pn1 is the position data of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn1, and Pn2 is the position data of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn2, Tn1 and Tn2 are selected based on the conditions that satisfy ΔTn1=Tn-Tn1, ΔTn2=Tn2-Tn, 100ms≧ΔTn1, and 100ms≧ΔTn2, and Pn is calculated based on Pn1 and Pn2. A surveying data processing device.

[0010] In the present invention, an embodiment is provided in which Pn is determined from a path from Pn1 to Pn2, or an embodiment is provided in which Pn is determined based on a path fitting to Pn1 and Pn2.

[0011] In the present invention, the distance between Pn1 and Pn2 is defined as D1, the distance between Pn1 and Pn is defined as D, Pn is calculated as a position distance D from Pn1 in the direction of Pn2, and D is calculated by D=D1×(Tn-Tn1) / (Tn2-Tn1).

[0012] In one embodiment of the present invention, Tn is obtained from a period in which the aircraft is flying in a straight line, the position of the aircraft is repeatedly measured by the first surveying instrument, and the period in which the aircraft is flying in a straight line is detected based on the positioning repeatedly performed by the first surveying instrument. In another embodiment of the present invention, a synchronization signal is output from the aircraft to the first surveying instrument and the second surveying instrument.

[0013] The present invention provides Exterior orientation parameters are known Positioning data of the aircraft obtained by a first surveying device; Exterior orientation parameters are unknown The positioning data of the aircraft by the second surveying device Ta Get The positioning data of the aircraft obtained by the first surveying device and the positioning data of the aircraft obtained by the second surveying device Calculating at least one of the position and the attitude of the second surveying instrument based on the Pn is the position data of the aircraft measured by one of the first surveying instrument and the second surveying instrument at time Tn, Pn1 is the position data of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn1, and Pn2 is the position data of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn2, Tn1 and Tn2 are selected based on the conditions that satisfy ΔTn1=Tn-Tn1, ΔTn2=Tn2-Tn, 100ms≧ΔTn1, and 100ms≧ΔTn2, and Pn is calculated based on Pn1 and Pn2. A surveying data processing method.

[0014] The present invention is a program that is read and executed by a computer, Exterior orientation parameters are known Positioning data of the aircraft obtained by a first surveying device; Exterior orientation parameters are unknown The positioning data of the aircraft by the second surveying device Ta's Acquisition and The positioning data of the aircraft obtained by the first surveying device and the positioning data of the aircraft obtained by the second surveying device and calculating at least one of the position and the attitude of the second surveying instrument based on the calculated position and the attitude of the second surveying instrument, Pn is the position data of the aircraft measured by one of the first surveying instrument and the second surveying instrument at time Tn, Pn1 is the position data of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn1, and Pn2 is the position data of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn2, Tn1 and Tn2 are selected based on the conditions that satisfy ΔTn1=Tn-Tn1, ΔTn2=Tn2-Tn, 100ms≧ΔTn1, and 100ms≧ΔTn2, and Pn is calculated based on Pn1 and Pn2. A surveying data processing program. [Effects of the Invention]

[0017] According to the present invention, it is possible to more easily obtain information on the instrument points of a surveying instrument. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a schematic diagram of an embodiment. [Figure 2] (A) and (B) are schematic diagrams of the surveying equipment. [Figure 3] FIG. 2 is a block diagram of the surveying device. [Figure 4] FIG. 1 is a block diagram of a data processing device. [Figure 5] 10 is a flowchart illustrating an example of a processing procedure. [Figure 6] 10 is a flowchart illustrating an example of a processing procedure. [Figure 7] FIG. 10 is a diagram illustrating an example of positioning data. [Figure 8] This is a diagram showing the principle of rear intersection. [Figure 9] FIG. 2 is a conceptual diagram showing the relationship between positioning time and positioning data in a three-dimensional space. DETAILED DESCRIPTION OF THE INVENTION

[0019] 1. First embodiment (overview) 1 shows a surveying device 100, a surveying device 200, a UAV (unmanned aerial vehicle) 300, and a data processing device 400. Details of each device will be described later.

[0020] In this example, the exterior orientation parameters (position and attitude) of the surveying device 100 are known, and the exterior orientation parameters of the surveying device 200 are unknown. The surveying device 100 and the surveying device 200 perform positioning of a flying UAV 300.

[0021] The position (machine point) of the surveying device 200 is determined by the resection method using the measured positions of the UAV 300 as reference points (orientation points). This process is performed by the data processing device 400.

[0022] With this technology, even if there are mountains, trees, buildings, or other obstructions between the surveying device 100 and the surveying device 200 and it is not possible to directly locate the position of the surveying device 200 using the surveying device 100, it is possible to obtain the instrument point of the surveying device 200, i.e., to identify the installation location of the surveying device 200.

[0023] The surveying instrument 200 only needs to measure the position of the flying UAV 300, and does not need to directly measure the position of the surveying instrument 200. Therefore, it is possible to obtain information on the instrument point of the surveying instrument 200 more easily.

[0024] The number of surveying devices whose positions are known and whose positions are unknown is not limited to one, but may be multiple. The number of UAVs 300 used is also not limited to one, but may be two or more.

[0025] (Surveying equipment) The surveying instruments 100 and 200 are total stations that have the functions of measuring distance and position using laser light, and capturing and tracking the object of surveying. Total stations sold by surveying equipment manufacturers can be used as the surveying instruments 100 and 200.

[0026] Here, the same surveying instrument is used as the surveying instrument 100 and the surveying instrument 200. The surveying instruments 100 and 200 may be different models or types as long as they have the functions described below. It is also possible to combine one as a total station and the other as a laser scanner.

[0027] In this example, the surveying instrument 100 and the surveying instrument 200 are the same, so the following explanation will be given taking the surveying instrument 100 as an example. Figure 2 shows perspective views (A) and (B) of the surveying instrument 100. (A) is a perspective view seen from the front side, and (B) is a perspective view seen from the back side.

[0028] The surveying device 100 comprises a base unit 122 fixed on a tripod 121, a horizontal rotation unit 123 capable of horizontal rotation on the base unit 122, and a vertical rotation unit 124 held on the horizontal rotation unit 123 in a state capable of vertical rotation (elevation angle control and depression angle control).

[0029] Horizontal and vertical rotations are performed by motors. The horizontal angle of the horizontal rotation unit 123 (the horizontal pointing direction of the optical axis of the telescope 125) and the vertical angle of the vertical rotation unit 124 (the elevation or depression angle of the optical axis of the telescope 125) are precisely measured by encoders.

[0030] In front of the vertical rotating part 124, a telescope 125, capture The optical part 129 of the tracking laser light and the wide-angle camera 101 are arranged, and the telescope 125 is connected to the back. eye 3. The display 126 and the touch panel display 128 are arranged on the screen 125. The telescope 125 also serves as the optical system of the telephoto camera 102 shown in FIG.

[0031] A laser beam for measuring distance (distance measurement beam) is emitted to the outside through the objective lens of the telescope 125, and the reflected light is received. That is, the optical axis of the telescope 125 (the optical axis of the telephoto camera 102) and the optical axis of the distance measurement beam are set on the same axis. Also, the optical axis of the wide-angle camera 101 and capture The optical axis of the tracking laser light optical unit 129 is also set in the same direction as the optical axis of the telescope 125 .

[0032] The touch panel display 128 is an operation panel and display for the surveying instrument 100. The touch panel display 128 displays various information related to the operation of the surveying instrument 100 and information related to the surveying results.

[0033] (Block diagram of surveying equipment) 3 is a functional block diagram of the surveying instrument 100. The surveying instrument 100 includes a wide-angle camera 101, a telephoto camera 102, a drive control unit 103, a target capture It includes a tracking unit 104, a positioning unit 105, an absolute time acquisition unit 106, a data storage unit 107, a communication device 108, a GNSS receiving device 109, and a touch panel display 128.

[0034] The wide-angle camera 101 captures wide-angle images. The telephoto camera 102 captures telephoto images. The drive control unit 103 controls the direction of the optical axis of the surveying instrument 100 (the optical axis of the telescope 125). Specifically, the drive control unit 103 controls the horizontal rotation of the horizontal rotation unit 123 and the vertical rotation of the vertical rotation unit 124.

[0035] target capture The tracking unit 104 capture Target tracking using laser light capture The target is a reflector such as a reflecting prism. In this example, the target is a reflecting prism 301 mounted on the UAV 300.

[0036] capture The tracking laser light has a fan-shaped beam shape, and the direction of the target is searched for by detecting the reflected light. At this time, the direction of the optical axis of the surveying instrument 100 is finely adjusted under the control of the drive control unit 103. Specifically, the optical axis is finely adjusted by shaking it up and down and left and right to search for the target. This technology is described, for example, in Japanese Patent Application Laid-Open No. 2009-229192.

[0037] By the above search, the target is captured on the optical axis of the surveying instrument 100 (the optical axis of the telescope 125). capture Once the target capture When the target is moved, the optical axis of the surveying instrument 100 is controlled in real time to maintain that state. This is the tracking of the target. As a result, even if the target moves, the direction of the optical axis is controlled to follow the direction of the target, and the target is tracked. capture The state is maintained.

[0038] In addition, the target capture If the target is lost while the target is being tracked, a search for the target will begin. capture Control is performed so that the state is as follows.

[0039] The positioning unit 105 performs positioning using laser light. Positioning is performed based on the distance to an object (in this case, a target reflective prism) measured using distance measurement light (laser light for distance measurement) and the direction of the optical axis of the distance measurement light. The distance is calculated using the principle of optical distance measurement. There are two methods for calculating the distance: one that uses the phase difference of the received distance measurement light, and one that uses the propagation time. In this example, distance is measured using the method that uses the phase difference.

[0040] In the method using phase difference, a reference optical path is installed inside the surveying instrument, and the distance to the object is calculated from the difference (phase difference) between the reception timing of the distance measurement light that has propagated through this reference optical path and the reception timing of the distance measurement light that has reflected from the object.In the method using propagation time, the distance to the object is calculated from the time it takes for the distance measurement light to hit the object, be reflected, and return.

[0041] The direction of the distance measurement point as seen from the surveying instrument 100 (the direction of the optical axis of the distance measurement light) is obtained by measuring the rotation angles of the horizontal rotation unit 123 and the vertical rotation unit 124. The rotation angles of the horizontal rotation unit 123 and the vertical rotation unit 124 are precisely measured by encoders.

[0042] The absolute time acquisition unit 106 is a highly accurate electronic clock that acquires absolute time based on navigation signals received by the GNSS receiver 109 from navigation satellites. For example, Coordinated Universal Time (UTC) is used as the absolute time. However, other types of clocks can also be used as long as they have the ability to keep accurate time.

[0043] The data storage unit 107 stores data and programs necessary for the operation of the surveying instrument 100, as well as data on surveying results. The communication device 108 communicates with other devices. Communication is performed using telephone lines, wireless LAN lines, and wired lines.

[0044] The GNSS receiver 109 receives navigation signals from navigation satellites used in the GNSS. Based on the time information contained in the navigation signals, the absolute time acquisition unit 106 acquires absolute time.

[0045] (Block diagram of data processing device) In this example, a data processing device 400 is configured using a PC (personal computer). Application software for realizing the functional units shown in Fig. 4 is installed on the PC to obtain the data processing device 400. Some or all of the functional units shown in Fig. 4 can also be realized by dedicated hardware. The functions of the data processing device 400 can also be realized in a server connected to the Internet.

[0046] The data processing device 400 includes a positioning data acquisition unit 401, a specific relationship positioning data acquisition unit 402, an estimated positioning data calculation unit 403, a machine point position calculation unit 404, data It includes a storage unit 405 and a communication device 406 .

[0047] The positioning data acquisition unit 401 performs the processing of step S111, which will be described later. In this processing, the positioning data is acquired by the surveying device 100 and the surveying device 200 performing positioning of the UAV 300. The surveying device 100 and the surveying device 200 transmit the positioning data to the data processing device 400 using a wireless LAN line, and the positioning data is accepted by the positioning data acquisition unit 401.

[0048] The acquisition unit 402 of positioning data in a specific relationship performs the processing of steps S113 and S114, which will be described later. In this processing, the positioning data in a specific relationship that was measured at the closest time in the positioning data of the surveying device 100 and the surveying device 200 is acquired in relation to the positioning data of the UAV 300. Details of the processing performed by the acquisition unit 402 of positioning data in a specific relationship will be described in detail in the explanation of steps S113 and S114.

[0049] The estimated positioning data calculation unit 403 performs the process of step S115, which will be described later. In this process, estimated positioning data of one surveying instrument corresponding to the positioning data of the UAV 300 obtained by the other surveying instrument is calculated.

[0050] The positioning of the UAV 300 by the surveying device 100 and the surveying device 200 may not be performed at the same time. In this case, the positioning times of the two devices are different, so it is necessary to obtain positioning data that is estimated to be obtained if the positioning were performed at the same time.

[0051] The positioning data that is estimated to be obtained when positioning is performed at the same time as the above is the estimated positioning data. The process related to this calculation is performed in the estimated positioning data calculation unit 403. There are two possible types of estimated positioning data: estimated positioning data that is estimated to be obtained on the surveying device 100 side with the surveying device 200 as the reference, and estimated positioning data that is estimated to be obtained on the surveying device 200 side with the surveying device 100 as the reference. Details of the process will be described later. Steps This will be explained in detail in relation to the explanation of S115.

[0052] The instrument point position calculation unit 404 performs the processing of step S117. In this processing, the position and attitude of the surveying instrument 200, whose position is unknown at an initial stage, are calculated using the resection method. Details of the processing will be explained in relation to the explanation of S117 below.

[0053] data The storage unit 405 stores data and operation programs necessary for the operation of the data processing device 400, data processed by the data processing device 400, etc. The communication device 406 communicates with external devices. The communication device 406 is used to communicate with, for example, the surveying device 100 and the surveying device 200. The communication is performed via a wireless LAN line, a telephone line, or a wired line.

[0054] (UAV) The UAV 300 is equipped with a reflecting prism 301, which serves as a target for positioning. The reflecting prism 301 reflects the incident ranging light (positioning light) by inverting its direction by 180°. Various reflectors, such as retroreflective targets, can be used instead of the reflecting prism.

[0055] The positioning of the UAV 200 by the surveying instrument 100 and the surveying instrument 200 is performed using the reflecting prism 301 as a target. Therefore, the position of the UAV 300 is grasped as the position of the reflecting prism 301.

[0056] The UAV 300 may be of an autonomous type or a type piloted by an operator. In this example, precision in the flight path of the UAV is not required, and since the equipment carried by the UAV is a reflecting prism, a large payload is not required. For example, a toy drone, which is inexpensive, may be used as the UAV 300.

[0057] (Example of preliminary work) An example of the processing procedure is shown in Figures 5 and 6. Figure 6 shows the processing related to the calculation of the position (machine point) of the surveying instrument 200, and Figure 5 shows the procedure of the work carried out in the previous stage.

[0058] First, a description will be given of Figure 5. First, a surveying instrument 100, which is a first surveying instrument, is installed at a first instrument point (step S101). Here, the exterior orientation parameters (position and attitude) of the surveying instrument 100 at the first instrument point are acquired in advance and are known. In other words, the position (coordinates) of the first instrument point is known.

[0059] The coordinate system used is the absolute coordinate system (global coordinate system). The absolute coordinate system is the coordinate system used in maps and GNSS. In the absolute coordinate system, a position is described by longitude, latitude, and altitude.

[0060] Also, a second surveying instrument, the surveying instrument 200, is installed at the second instrument point (step S102). Here, the exterior orientation parameters (position and attitude) of the surveying instrument 200 at the second instrument point are unknown. In other words, the position (coordinates) of the second instrument point is unknown.

[0061] After the surveying device 100 and the surveying device 200 are installed, the UAV 300 is flown in an airspace visible from both devices, and continuous positioning of the flying UAV 300 is performed by the surveying device 100 and the surveying device 200 (step S103).

[0062] The flight of the UAV 300 is controlled by an operator or follows a predetermined flight path. The flight path is selected to be in an airspace visible from both the surveying devices 100 and 200.

[0063] The positioning of the UAV 300 by the surveying devices 100 and 200 is continuously and repeatedly performed. measurement The measurement is performed at a repetition frequency of about 1 Hz to 20 Hz.

[0064] The positioning data is acquired as data on the distance from the surveying instrument to the UAV 300 measured using a ranging light, and the direction of the optical axis of the ranging light (the direction of the UAV 300 as seen from the surveying instrument). This is the same for the surveying instruments 100 and 200.

[0065] The direction of the optical axis of the distance measurement light is 123 Horizontal rotation angle and vertical rotation124 The vertical angle (elevation or depression) data is obtained.

[0066] The above positioning data is obtained in association with the absolute time measured by each surveying instrument. The positioning data of the flying UAV 300 obtained by the surveying instruments 100 and 200 is processed by the data processing device 400. In this example, after a set of positioning data is acquired, the positioning data is sent to the data processing device 400 and processed. Data processing can also be performed in parallel with positioning.

[0067] (Example of processing procedure) Fig. 6 is a flowchart showing the procedure of processing performed in data processing device 400. A program for executing the processing in Fig. 6 is stored in an appropriate storage medium and executed by the CPU of a computer constituting data processing device 400. It is also possible to store the program for executing the processing in Fig. 6 in a server and download it for use.

[0068] When the process starts, first, the positioning data of the UAV 300 obtained by the surveying instrument 100 and the positioning data of the UAV 300 obtained by the surveying instrument 200 are acquired (step S111).

[0069] An example of positioning data is shown in Figure 7. The positioning time in Figure 7 is the time when the reflected light of the ranging light from the UAV 300 is received. Note that data on the direction of the optical axis of the surveying device (horizontal angle and vertical angle) is acquired at the time when this ranging light is received.

[0070] 7 shows an example of the positioning data of the UAV 300 obtained by the surveying instrument 100 and an example of the positioning data of the UAV 300 obtained by the surveying instrument 200. In the example of FIG. 7, the times at which the two positioning measurements were taken do not match, and are not evenly spaced. This is for the following reasons.

[0071] The surveying device 100 (the same applies to the surveying device 200) performs positioning using the reflecting prism 301 of the UAV 300 as a target. captureThe direction of the optical axis of the surveying instrument 100 is controlled in real time to maintain this state, that is, the attitude of the surveying instrument 100 is controlled.

[0072] However, there are problems such as the swaying and vertical movement of the UAV 300 due to wind and air currents, and interruptions to tracking and blocking of the ranging light due to birds, leaves, dust, etc. flying along the optical axis of the ranging light, so positioning (ranging) is not necessarily performed at the intended time. Furthermore, this phenomenon occurs separately in the surveying devices 100 and 200. Therefore, as shown in Figure 7, the times at which the positioning is performed by both devices will not match and will not be at equal intervals. Of course, there may be cases where the times at which the positioning is performed by both devices match and are at equal intervals, but there is no guarantee.

[0073] Figure 7 shows a case where positioning processing is basically performed every 50 ms (20 Hz). However, if for some reason the positioning processing cannot be completed in time, processing may be skipped, resulting in an interval of 100 ms or 150 ms. Also, if the tracking of the reflecting prism 301 is lost or becomes unstable, the next positioning may not be a multiple of 50 ms. For these reasons, Figure 7 shows a case where the times at which the two positioning operations are performed do not match and are not equally spaced.

[0074] After obtaining the positioning data in step S111, the two positioning data (see, for example, Figure 7) are compared to determine whether the positioning data of UAV300 obtained by surveying device 100 and the positioning data of UAV300 obtained by surveying device 200 are synchronized (step S112).

[0075] If the two pieces of positioning data are synchronized, the process proceeds to step S117; if they are not synchronized, the process proceeds to step S113. Whether or not the two pieces of positioning data are synchronized is determined using a predetermined threshold value. The threshold value is determined taking into consideration calculation errors and the flight speed of the UAV. For example, a value of 0.1 ms to 10 ms is used as the threshold value.

[0076] When the two pieces of positioning data are synchronized (or can be considered synchronized), the surveying device 100 and the surveying device 200 measure a common absolute time, so it is possible to acquire, without any special ingenuity, the positioning data of the UAV 300 measured at the closest time between the surveying device 100 and the surveying device 200. In the ideal case, it is possible to acquire positioning data measured at the same time.

[0077] When the process proceeds from step S112 to step S117, the exterior orientation parameters (position and attitude) of the surveying instrument 200 are calculated using the resection method, the principle of which is shown in Fig. 8. By this process, a second instrument point, which is the position of the surveying instrument 200, is calculated.

[0078] In this process, at least two points are used as the acquired position of the UAV 300. Fig. 8 shows a case where three points P1, P2, and P3 are used as the position of the UAV 300.

[0079] In this case, the timing of positioning by the surveying instrument 100 and the surveying instrument 200 is synchronized, so P1 to P3 in FIG. 8 are positions that are measured simultaneously (or at a timing that is considered to be the same) by the surveying instrument 100 and the surveying instrument 200. 。 Point P0 is the position (second instrument point) of the surveying instrument 200. Here, the vector connecting P0 and P1, the vector connecting P0 and P2, and the vector connecting P0 and P3 are obtained from the distance measurement value by the surveying instrument 200 and the direction of the optical axis of the distance measurement light.

[0080] In this case, the positions (coordinate values) of P1 to P3 in the absolute coordinate system are measured by the surveying instrument 100. Therefore, the position in the absolute coordinate system of point P0, which is the intersection of these three vectors, is determined. The attitude of the surveying instrument 200 is also determined.

[0081] Next, the case of proceeding from step S112 to step S113 will be described. In step S113, a certain time Tn when the positioning of the UAV 300 was performed is acquired from the positioning data of the surveying device 200. Here, there is no positioning data of the UAV 300 of the surveying device 100 at time Tn. This is because the determination in step S112 is NO.

[0082] Next, the measurement points Pn1 and Pn2 of the UAV 300 obtained by the surveying device 100 before and after time Tn are acquired (step S114). Here, Pn1 is the positioning position by the surveying device 100 closest to Pn in the past on the time axis, and Pn is the positioning position by the surveying device 100 closest to Pn in the future on the time axis.

[0083] In the surveying device 100 and the surveying device 200, the absolute time is shared. Therefore, the positioning times Tn1 and Tn2 of the UAV 300 by the surveying device 100 adjacent before and after time Tn can be known.

[0084] [[ID=!2]]Here, Tn1 < Tn < Tn2. In this case, the positioning position of the UAV 300 by the surveying device 100 at time Tn1 is Pn1, and the positioning position of the UAV 300 by the surveying device 100 at time Tn2 is Pn2.

[0085] After acquiring Pn1 and Pn2, the estimated positioning data of the UAV 300 by the surveying device 100 at time Tn is calculated by linear interpolation (step S115). That is, actually, at time Tn, the positioning of the UAV 300 by the surveying device 100 is not performed, but it is considered to describe the estimated value using the positioning data obtained by the surveying device 100.

[0086] Next, the details of the process in step S115 will be described. Here, let the time of the measurement point Pn1 be Tn1, the time of the measurement point Pn2 be Tn, and the position of the UAV 300 at time Tn be Pn.

[0087] 9 shows the positional relationship between Pn1, Pn2, and Pn. Here, UAV 300 moves from position Pn1 toward Pn2, and is located at position Pn1 at time Tn1, at position Pn at time Tn, and at position Pn2 at time Tn2.

[0088] What we want to know here is the positioning data of the UAV 300 measured by the surveying instrument 100 at time Tn. Therefore, we assume that the UAV 300 flew in a straight line at a constant speed between time Tn1 and time Tn2, and estimate the position of the UAV 300 at time Tn based on the positions Pn1 and Pn2 measured by the surveying instrument 100. In other words, we consider describing the position of the UAV 300 at time Tn using Pn1 and Pn2.

[0089] Specifically, the calculation is performed as follows. First, it is assumed that the UAV 300 moves in a straight line from position Pn1 to Pn2 at a constant speed. The time when the UAV 300 is at position Pn is Tn. If the above flight is performed from position Pn1 to position Pn, the flight time is ( Tn-Tn1 ) is.

[0090] Here, if the distance between Pn1 and Pn2 is D1 and the distance between Pn1 and Pn is D, then Pn is a position that is a distance D away from Pn1 in the direction of Pn2. Because the flight is at a constant speed, the relationship (distance = speed x time) means that the distance and flight time are directly proportional, and the proportional relationship D:D1 = (Tn - Tn1):(Tn2 - Tn1) holds.

[0091] Expanding the above proportional relationship, D(Tn2-Tn1) = D1(Tn-Tn1), we obtain D = D1(Tn-Tn1) / (Tn2-Tn1). In other words, the position of Pn is calculated as a position that is a distance of D from the position of Pn1 in the direction from Pn1 to Pn2.

[0092] In this way, the estimated position of Pn is calculated using the positioning data and absolute time value of the surveying instrument 100. This calculation of the estimated position is performed in step S115. This process can also be said to be a process of finding a line that fits Pn1 and Pn2, dividing this line with Pn1 as the starting point at a ratio of (Tn-Tn1) / (Tn2-Tn1), and setting the dividing point as the estimated position of Pn based on the positioning data of the surveying instrument 100.

[0093] By processing steps S113 to S115, positioning data that corresponds to the positioning data of the UAV 300 obtained by the surveying instrument 100 and the positioning data of the UAV 300 obtained by the surveying instrument 200 is acquired. In this case, the positioning data obtained by the surveying instrument 100 that corresponds to the positioning data Pn of the UAV 300 obtained by the surveying instrument 200 is a position that is the distance D away in the direction from Pn1 to Pn2.

[0094] Next, it is determined whether or not the position data of the UAV 300 required to calculate the installation position (machine point) of the surveying instrument 200 by the resection has been acquired (step S116).

[0095] At least two points of UAV300 position data are required to calculate the installation position (machine point) of the surveying device 200. Normally, it is desirable to secure three or more points. If the surveying device 200 is installed horizontally above the unknown point, the resection method can be used even if there are only two points of UAV300 position data. In this case, the error is minimized when the opening angle between the two points is 90° and the distance to the two points is the same. The closer the opening angle is to 0° or 180°, the larger the error becomes.

[0096] This also applies when selecting three or more points. By selecting the position of the UAV 300 so that the angle between two points is as close to 90° as possible and the two points are equidistant from the perspective of the surveying instrument 200, the accuracy of calculating the instrument point of the surveying instrument 200 can be improved. The position of the UAV 300 can be freely selected, which is an advantage.

[0097] Specifically, it is preferable that the position data of the UAV 300 to be determined in step S116 includes a position at an elevation angle of approximately 45° when viewed from the surveying instruments 100 and 200, and further at a left-right viewing angle of approximately 90°. By satisfying this requirement, it is possible to improve the accuracy of calculation of the installation position (machine point) of the surveying instrument 200 by the resection method.

[0098] In step S116, if the positioning data required for the processing of step S117 has not been obtained, the processing from step S113 onwards is repeated. Note that in the second and subsequent processing of step S113, a value of Tn different from those up to that point is selected. By doing so, the estimated positioning data calculated in step S115 can be obtained for a location different from that of the previous time.

[0099] In step S116, if the positioning data required for the processing of step S117 has been obtained, the process proceeds to step S117, where the installation position (instrument point) of the surveying instrument 200 is calculated by the resection method.

[0100] The following describes the processing of step S117 when the process proceeds from step S116 to step S117. In this case, P1 to P3 in Fig. 8 are the positions of the UAV 300 measured by the surveying instrument 200. P0 is the position of the surveying instrument 200.

[0101] Here, the vector connecting P0 and P1, the vector connecting P0 and P2, and the vector connecting P0 and P3 are obtained from the distance measurement value obtained by the surveying instrument 200 and the direction of the optical axis of the distance measurement light.

[0102] On the other hand, P1 to P3 are not directly positioned by the surveying instrument 100, but are calculated as estimated positioning data based on the position data of the UAV 300 positioned by the surveying instrument 100 in step S115.

[0103] That is, P1 to P3 are obtained as estimated positioning data described using the positioning data obtained by the surveying instrument 100. Here, the positioning data obtained by the surveying instrument 100 is positioning values ​​in an absolute coordinate system.

[0104] Therefore, the position in the absolute coordinate system of point P0, which is the intersection of the above three vectors, can be obtained. In addition, since the directions of P1 to P3 as seen from the surveying instrument 200 are known, the attitude of the surveying instrument 200 can be obtained. In this way, the position and attitude of the surveying instrument 200 are calculated based on the positioning data obtained by the surveying instrument 100 and the positioning data obtained by the surveying instrument 200 that correspond to each other. The above processing is performed in step S117 when the process proceeds from step S116 to step S117.

[0105] (superiority) Even when the surveying device 100 has known exterior orientation parameters and the surveying device 200 has unknown exterior orientation parameters, and there is a hill, mountain, forest, building, etc. between the two and the surveying device 200 cannot be seen from the surveying device 100, the exterior orientation parameters of the surveying device 200 can be determined. The UAV 300 does not require advanced autonomous flight performance. Therefore, a toy drone that can be obtained at low cost can be used. Furthermore, advanced flight control of the UAV 300 is not required.

[0106] For example, the present invention can be implemented by flying the UAV 300 in a large circle around the airspace visible from the surveying devices 100 and 200, and then having the surveying devices 100 and 200 continuously track and position the UAV 300, and then analyzing the data. This is a simple task and can significantly reduce the burden on workers.

[0107] 2. Second embodiment 6, the first surveying instrument 100 acquires the time Tn at which it measured the position of the UAV 300. In addition, in step S114, the first surveying instrument 100 acquires the positioning data of the UAV 300 measured by the surveying instrument 200 before and after the time Tn.

[0108] As a result, positioning data that corresponds to the positioning data of the UAV 300 measured by the surveying instrument 100 and the positioning data of the UAV 300 measured by the surveying instrument 200 can be obtained.

[0109] In step S115, estimated positioning data of the UAV 300 by the second surveying instrument 200 at time Tn is obtained by linear interpolation. In this way, the position of the surveying instrument 200 is calculated based on the corresponding positioning data. The rest is the same as the processing in Figure 6.

[0110] 3. Third embodiment The present invention can also be applied when there are three or more surveying instruments. In this case, the instrument point of the first surveying instrument is known, the instrument point of the second surveying instrument is unknown, the instrument point of the third surveying instrument is unknown, and so on until the instrument point of the Nth surveying instrument is unknown. N is a natural number greater than or equal to 3.

[0111] The procedure is to apply the process in Figure 6 to the first and second surveying instruments to obtain the instrument points of the second surveying instrument. Also, apply the process in Figure 6 to the first and third surveying instruments to obtain the instrument points of the third surveying instrument. Then, using a similar method, obtain the instrument points of the Nth surveying instrument.

[0112] In this case, the flight control of the UAV involves flying the UAV in an airspace visible from the first surveying device and the second surveying device, flying the UAV in an airspace visible from the first surveying device and the third surveying device, and so on, flying the UAV in an airspace visible from the first surveying device and the Nth surveying device.

[0113] As another method, first, the process of Fig. 6 is applied to the first surveying instrument and the second surveying instrument to obtain the instrument point of the second surveying instrument. Next, the process of Fig. 6 is applied to the second surveying instrument whose instrument point is known and the third surveying instrument whose instrument point is unknown to obtain the instrument point of the third surveying instrument. Then, using a similar method, the N-1th surveying instrument is treated as a surveying instrument whose instrument point position is known, and the Nth surveying instrument is treated as a surveying instrument whose instrument point position is unknown, and the instrument point of the Nth surveying instrument is obtained using the process of Fig. 6.

[0114] In this case, the flight control of the UAV involves flying the UAV in the airspace visible from the first surveying device and the second surveying device, flying the UAV in the airspace visible from the second surveying device and the third surveying device, and so on, flying in the airspace visible from the N-1 surveying device and the Nth surveying device.

[0115] Even if there are two or more surveying instruments that require the acquisition of instrument points (acquisition of exterior orientation parameters), the workload does not increase significantly. In this case, after each surveying instrument is installed, a UAV is flown into the sky and each instrument measures its position, thereby obtaining the necessary positioning data. After that, by processing the positioning data obtained by each instrument using post-processing based on the process in Figure 6, the instrument points of multiple surveying instruments whose instrument points are unknown can be obtained.

[0116] 4. Fourth Embodiment In step S115, the estimated positioning data is calculated by linear interpolation, assuming that the UAV 300 is flying in a straight line. However, the UAV 300 does not necessarily fly in a straight line. In addition, there may be cases where the UAV 300 moves irregularly due to the influence of air currents.

[0117] In this embodiment, the period during which the UAV 300 is flying in a straight line is identified, and Tn is obtained in step S113 during that period. The procedure will be described below. In this process, prior to step S113, the period during which the UAV 300 is flying in a straight line is found based on the positioning data of the UAV 300 obtained by the surveying instrument 100.

[0118] The surveying device 100 continuously measures the position of the UAV 300, and the positioning data is a value in an absolute coordinate system and is linked to absolute time. Therefore, the positioning data of the surveying device 100 can determine the period during which the flight path of the UAV 300 is a straight line. From this period, Tn is obtained in step S113. This reduces errors that occur in the processing of step S115.

[0119] The flight path may be approximated by a circular arc or the like, and estimated positioning data may be obtained by interpolation. The function used for approximation is not limited to a circular arc, but may be a portion of an ellipse, equations of various curves, or other curves that fit the flight path.

[0120] 5. Fifth Embodiment Other methods for synchronizing the surveying instrument 100 and the surveying instrument 200 will now be described. The first method is to transmit a timing signal that instructs the timing of positioning from the UAV 300 as a synchronization signal. In this case, the UAV 300 transmits a positioning instruction signal, which is a synchronization signal that instructs positioning. The transmission of the positioning instruction signal is performed using, for example, a wireless LAN standard.

[0121] The surveying device 100 and the surveying device 200 continuously capture the flying UAV 300. When the surveying device 100 and the surveying device 200 receive the positioning command signal while capturing the UAV 300, the surveying device 100 and the surveying device 200 use this as a trigger to perform positioning of the UAV 300.

[0122] The UAV 300 transmits the positioning instruction signal multiple times while flying. 0 If the surveying instrument 200 and the surveying instrument 200 are of the same model number, the speed of operation when receiving a positioning instruction signal will be the same, and the positioning process between the two can be synchronized.

[0123] In this case, it may be possible that at least one of the surveying devices is unable to measure the position of the UAV due to the influence of birds flying in the sky, etc. In such cases, positioning data obtained at the same time is selected in post-processing.

[0124] The synchronization signal may be sent from the UAV 300 as an optical signal. For example, the UAV 300 is equipped with a light-emitting element that periodically emits synchronization light. The surveying device 100 and the surveying device 200 photograph the UAV 300 using their own cameras and detect this synchronization light from the image. Upon detecting this synchronization light, the surveying device 100 and the surveying device 200 perform positioning of the UAV 300.

[0125] 6. Sixth Embodiment A reference clock signal transmitted from the UAV 300 can also be used as a means of obtaining absolute time. The important thing about absolute time here is not the absolute value of the time, but that it can be used in common by the surveying instruments 100 and 200 and that the timing can be grasped at the same time. In other words, it is important that the surveying instruments 100 and 200 can use clocks that keep the same time.

[0126] Therefore, a reference signal may be transmitted from the UAV 300, received by the surveying instruments 100 and 200, and the same time may be measured by both surveying instruments.

[0127] This example can be realized by mounting a transmitter that outputs a radio-controlled clock signal that indicates the time on the UAV 300. Since the positioning of the UAV 300 by the surveying devices 100 and 200 is performed within the visible range, the transmitter can have a small output.

[0128] Furthermore, instead of outputting a clock signal by radio waves, an optical clock signal may be output from the UAV 300. In this case, the surveying instruments 100 and 200 detect this optical clock signal with their onboard cameras and acquire the time information recorded there.

[0129] 7. Seventh Embodiment 9, in addition to Tn1 and Tn2, the time Tn0 when the surveying instrument 100 measured the position of the UAV 300 before Tn1 may be selected as the time when the surveying instrument 100 measured the position of the UAV 300. Here, the positioning data of the UAV 300 measured by the surveying instrument 100 at Tn0 is set to Pn0.

[0130] In this case, a flight path that fits three points Pn0, Pn1, and Pn2 is set, and the coordinates of the point corresponding to Tn on this flight path are obtained.

[0131] For example, the section between Pn1 and Pn2 on the above flight path is divided at a ratio of (Tn - Tn1) / (Tn2 - Tn1), and the division point is taken as the point corresponding to Pn. By doing so, Pn can be described using the positioning data of the surveying device 100.

[0132] In the above case, it is also possible to select the time when the surveying device 100 performs the positioning of the UAV 300 after Tn2 and obtain the positioning data Pn3. In this case, the path that fits the four points Pn0, Pn1, Pn2, and Pn is taken as the flight path of the UAV 300.

[0133] According to this embodiment, when the UAV 300 is performing a turning flight, its influence can be incorporated into the calculation of the estimated positioning data in step S115.

[0134] 8. Eighth Embodiment In the case of FIG. 9, it is preferable that Pn₁ and Pn₂ are as close to Pn as possible. This is because the shorter the interval between Pn₁ and Pn₂, the higher the accuracy of the linear interpolation performed in step S115 will be.

[0135] Therefore, in this embodiment, first, Pn₁ and Pn₂ that are adjacent on the spatial axis and have the shortest interval are selected from the positioning data series obtained by the surveying device ₁₀₀ when performing the positioning of the UAV 300. Then, Tn₁ corresponding to Pn₁ and Tn₂ corresponding to Pn₂ are obtained.

[0136] Next, it is determined whether there exists a Tn that satisfies Tn₁ < Tn < Tn₂. If there is a Tn that satisfies the above determination condition, that is, if the surveying device 200 is positioning the UAV 300 between Tn₁ and Tn₂, then the Tn is selected, and the processing from step S113 in FIG. 6 is executed.

[0137] If there is no Tn that satisfies Tn1 < Tn < Tn2, then next, select Pn1 and Pn2 with a short interval, and repeat the determination of whether there is a Tn that satisfies Tn1 < Tn < Tn2.

[0138] According to this embodiment, Pn1 and Pn2 that are as close to Pn as possible are selected, and the accuracy of the estimated positioning data calculated in step S115 can be improved.

[0139] 9. The Ninth Embodiment Hereinafter, in the positioning data of the aircraft by the first surveying device and the positioning data of the aircraft by the second surveying device, as positioning data in a specific relationship, an example of selecting one piece of positioning data of the first surveying device and acquiring one piece of positioning data of the second surveying device will be described.

[0140] In this example, only Tn1 is selected as the time corresponding to Tn in FIG. 9. That is, in step S114 , measurement As the positioning time of the UAV 300 of the surveying device 100, a time Tn + 1 before and close to Tn is acquired.

[0141] In this case, the following calculation is performed to improve the accuracy of the estimated positioning data calculated in step S115. First, based on the positioning data of the UAV 300 of the surveying device 100, the velocity vector of the UAV 300 at time Tn1 is obtained. Next, assuming that the flight continues from Tn1 to Tn in the state of that velocity vector, the position at Tn is calculated as the estimated positioning data.

[0142] Note that in this example, it is also possible to obtain Tn2 instead of Tn1. In this case, the position of the UAV 300 at Tn is calculated as the estimated positioning data by back calculation from Tn2. That is, the velocity vector of the UAV 300 at Tn2 is obtained, and assuming that the velocity vector continues from Tn to Tn2, the position of the UAV 300 at Tn is calculated by tracing back the flight path from Pn2.

[0143] 10. The Tenth Embodiment Let Tn1 and Tn2 be the times when the surveying device 100 positions the UAV 300, and Tn be the time when the surveying device 200 positions the UAV 300. In this case, it is also possible to set Tn-Tn1=ΔT1 and Tn2-Tn=ΔT2, and select Tn1 and Tn2 based on the conditions threshold ≧ΔT1 and threshold ≧ΔT2.

[0144] In this case, the positioning time Tn by the surveying instrument 200 and the positioning time Tn1 by the surveying instrument 100 do not have to be adjacent on the time axis. In other words, the positioning of the UAV 300 by the surveying instrument 100 may be performed between Tn1 and Tn.

[0145] Furthermore, the positioning time Tn by the surveying instrument 200 and the positioning time Tn2 by the surveying instrument 100 do not have to be adjacent on the time axis. In other words, the positioning of the UAV 300 by the surveying instrument 100 may be performed between Tn and Tn2.

[0146] The threshold value used to determine ΔT1 and ΔT2 is, for example, a value of 100 ms or less.

[0147] Furthermore, when Pn-Pn1=ΔP1 and Pn2-Pn=ΔP2, it is also possible to select Tn1 (Pn1) and Tn2 (Pn2) under the conditions of threshold ≧ΔP1 and threshold ≧ΔP2.

[0148] In this case, the position Pn measured by the surveying instrument 200 and the position Pn1 measured by the surveying instrument 100 do not have to be adjacent to each other. That is, there may be a point measured by the positioning instrument 100 between Pn and Pn1. Also, the position Pn measured by the surveying instrument 200 and the position Pn2 measured by the surveying instrument 100 do not have to be adjacent to each other. That is, there may be a point measured by the positioning instrument 100 between Pn and Pn2. The threshold value is selected to be, for example, 100 cm or less, preferably 50 cm or less, and more preferably 25 cm or less.

[0149] 11. Eleventh embodiment Let Tn1 and Tn2 be the times when the surveying instrument 100 measured the position of the UAV 300, and Tn be the time when the surveying instrument 200 measured the position of the UAV 300. In this case, it is also possible to have at least one of Tn1 and Tn2 not selected from the time closest to Tn.

[0150] For example, if the UAV is flying in a straight line at a constant speed, the error in the estimated positioning data calculated in step S115 is small even if Tn1 and Tn2 are far apart on the time axis. In such a case, it is not necessary to select at least one of Tn1 and Tn2 from the time closest to Tn.

[0151] 12. Twelfth embodiment When the position and attitude of a first surveying instrument at a first instrument point are known, and the position of a second surveying instrument at a second instrument point is known but its attitude is unknown, the present invention can be used to determine the attitude of the second surveying instrument at the second instrument point. This method is called the backsight method. A specific example is shown below.

[0152] For example, the location of the second instrument point may have already been surveyed and staked or marked. In this case, by placing a second surveying instrument there, the position of the second surveying instrument is determined, but its orientation is unknown.

[0153] In this case, the UAV is flown in the air in a location that is visible to both the first and second surveying instruments, and its positioning is performed by the first and second surveying instruments. The method of data acquisition is performed by the method disclosed in this specification.

[0154] In this case, the UAV needs to be positioned at one point (of course, two or more points are also acceptable). If the position P of the UAV and the direction of the UAV's position P as seen from the second surveying instrument are known, a vector pointing from the second surveying instrument to point P can be set. Since the position of the second surveying instrument is known, the attitude of the second surveying instrument can be determined by setting the above vector. In this way, the attitude of the second surveying instrument, which was previously unknown, is determined.

[0155] In addition, if the position and attitude of a first surveying instrument at a first instrument point are known, and the position of a second surveying instrument at a second instrument point is unknown but its attitude is known, the position of the second surveying instrument at the second instrument point can also be determined using a similar method.

[0156] (others) The present invention can also be used to identify the instrument point of a surveying instrument whose instrument point is unknown, using multiple surveying instruments whose instrument points are known. That is, a UAV can be tracked and positioned using a first surveying instrument, a second surveying instrument, and a third surveying instrument whose instrument point is unknown, and the positioning data from these can be used to identify the instrument point of the third surveying instrument.

[0157] A laser scanner or a total station with a laser scanner can also be used as a surveying device. [Explanation of symbols]

[0158] 100...surveying equipment, 101...wide-angle camera, 102...telephoto camera, 121...tripod, 122...base unit, 123...horizontal rotation unit, 124...vertical rotation unit, 125...telescope, 126...telescope docking unit, 128...touch panel display, 200...surveying equipment, 300...UAV, 301...reflecting prism, 400...data processing device (PC).

Claims

1. a positioning data acquisition unit that acquires positioning data of an aircraft obtained by a first surveying instrument whose exterior orientation parameters are known and positioning data of the aircraft obtained by a second surveying instrument whose exterior orientation parameters are unknown; a position calculation unit of the surveying instrument that calculates at least one of the position and the attitude of the second surveying instrument based on the positioning data of the aircraft obtained by the first surveying instrument and the positioning data of the aircraft obtained by the second surveying instrument; Equipped with Pn is data of the position of the aircraft measured by one of the first surveying instrument and the second surveying instrument at time Tn; Pn1 is the data of the position of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn1, Pn2 is data on the position of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn2; ΔTn1=Tn−Tn1, ΔTn2=Tn2−Tn, 100 ms ≥ ΔTn1, 100 ms ≥ ΔTn2, Tn1 and Tn2 are selected based on the condition that A surveying data processing device that calculates Pn based on Pn1 and Pn2.

2. 2. A survey data processing device according to claim 1, wherein said Pn is determined from a path from said Pn1 to said Pn2.

3. 3. The survey data processing device according to claim 1, wherein the Pn is determined based on a path that fits the Pn1 and the Pn2.

4. The distance between Pn1 and Pn2 is D1, The distance between Pn1 and Pn is D, The Pn is calculated as a position distance D from the Pn1 in the direction of the Pn2, The D is 4. The survey data processing device according to claim 1, wherein D is determined by D=D1×(Tn−Tn1) / (Tn2−Tn1).

5. The Tn is obtained from a period when the aircraft is flying in a straight line; the aircraft is repeatedly positioned by the first surveying device, 5. The survey data processing device according to claim 1, wherein the period of time during which the aircraft is flying in a straight line is detected based on repeated positioning performed by the first surveying device with respect to the aircraft.

6. a positioning data acquisition unit that acquires positioning data of an aircraft obtained by a first surveying instrument whose exterior orientation parameters are known and positioning data of the aircraft obtained by a second surveying instrument whose exterior orientation parameters are unknown; a position calculation unit of the surveying instrument that calculates at least one of the position and the attitude of the second surveying instrument based on the positioning data of the aircraft obtained by the first surveying instrument and the positioning data of the aircraft obtained by the second surveying instrument; Equipped with A survey data processing device in which a synchronization signal is output from the aircraft to the first surveying instrument and the second surveying instrument.

7. Acquire positioning data of an aircraft obtained by a first surveying device whose exterior orientation parameters are known and positioning data of the aircraft obtained by a second surveying device whose exterior orientation parameters are unknown; calculating at least one of the position and the attitude of the second surveying instrument based on the positioning data of the aircraft obtained by the first surveying instrument and the positioning data of the aircraft obtained by the second surveying instrument; Pn is data of the position of the aircraft measured by one of the first surveying instrument and the second surveying instrument at time Tn; Pn1 is the data of the position of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn1, Pn2 is data on the position of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn2; ΔTn1=Tn−Tn1, ΔTn2=Tn2−Tn, 100 ms ≥ ΔTn1, 100 ms ≥ ΔTn2, Tn1 and Tn2 are selected based on the condition that A surveying data processing method for determining Pn based on Pn1 and Pn2.

8. A program to be read and executed by a computer, To the computer Acquisition of aircraft positioning data by a first surveying device whose exterior orientation parameters are known and acquisition of aircraft positioning data by a second surveying device whose exterior orientation parameters are unknown; a process of calculating at least one of the position and the attitude of the second surveying instrument based on the positioning data of the aircraft obtained by the first surveying instrument and the positioning data of the aircraft obtained by the second surveying instrument; Execute Pn is data of the position of the aircraft measured by one of the first surveying instrument and the second surveying instrument at time Tn; Pn1 is the data of the position of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn1, Pn2 is data on the position of the aircraft measured by the other of the first surveying instrument and the second surveying instrument at time Tn2; ΔTn1=Tn−Tn1, ΔTn2=Tn2−Tn, 100 ms ≥ ΔTn1, 100 ms ≥ ΔTn2, Tn1 and Tn2 are selected based on the condition that A surveying data processing program for determining Pn based on Pn1 and Pn2.

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