KR100538339B1 - Wireless terminal system for constituting gis of river information by updating river pathway changes to digital map via mobile internet - Google Patents

Abstract

The present invention relates to a wireless terminal system for constructing a river information GIS by updating a fluctuation of a stream euro in a digital map database through a wireless Internet. More specifically, recent river flow changes that are not reflected in the river numerical map can be captured by digital photogrammetry using two vehicles equipped with a CCD camera, GPS, and INS. It relates to a wireless terminal system for correcting by the calibration coordinates of the reference point having a transmission to the GIS server through the wireless terminal to update the digital map database.

According to the present invention, it is possible not only to quickly update the changes in the river flows to the GIS system, but also to update in real time through the wireless Internet, so that the measured data are corrected at the measurement site, so that it is faster than the existing system of calibrating indoors. There is an effect that can provide users with a wireless terminal system that can correct the digital map in real time.

Description

Wireless Terminal System for Constituting GIS of River Information by Updating River Pathway Changes to Digital Map via Mobile Internet}

Field of invention

The present invention relates to a wireless terminal system for constructing a river information GIS by updating a fluctuation of a stream euro in a digital map database through a wireless Internet. More specifically, recent river flow changes that are not reflected in the river numerical map can be captured by digital photogrammetry using two vehicles equipped with a CCD camera, GPS, and INS. It relates to a wireless terminal system for correcting by the calibration coordinates of the reference point having a transmission to the GIS server through the wireless terminal to update the digital map database.

Background of the Invention

A digital map is a map inputted by a mapping agency (for example, the National Geographical Institute) by converting graphic data such as terrain and features represented on a map, and attribute data such as names and numbers into data that can be processed by a computer. By developing maps or survey drawings in a certain numerical data format, and by constructing a database that connects various types of figure information (maps, drawings, etc.) and attribute (characters) information, such as account books and records, on the ground, Of course, even underground facilities are equipped with a system that can be identified and managed in a three-dimensional manner that is close to the real thing using computer graphics.

However, rivers continuously erode and sediment the river banks, change the flow paths to form grain streams, and change the shape of the rivers due to erosion due to flooding, or change the flow paths over time. do. In addition, the area around large-scale construction works may be transformed in the flow path of the river due to the landfill of construction waste.

For this reason, there is an urgent need to update the numerical map from time to time to reflect such changes in the river euro. As a database correction method of such a digital map, it has been conventionally performed through computer work indoors through aerial photographs, GPS, and the like.

Publication No. 2003-5749 is to accurately measure and database three-dimensional positions of facilities around roads, but it is difficult to apply indoor computer work and to apply it to continuous stream information.

Korean Patent Laid-Open Publication No. 2004-24624 is characterized by building geographic information using image information, but it is not a system that can be linked with a server, and it is difficult to update in real time using a wireless internet, and also calculates from image information. It is not suggested to correct the coordinates so that the reliability of numerical information may be lowered.

Utility Model Registration No. 20-375700 relates to a high-precision digital PS system device that provides error and geographic information using the Internet, but this provides real-time error information and obtains the error information through a medium frequency signal from a reference station. Obtained. Therefore, it is difficult to obtain changes in river basins, and there is a limit to calibrating numerical databases in real time.

Other digital map correction methods include registration numbers 10-450340, 10-448054, and 10-456195. However, the coordinates obtained through GPS are not corrected in real time and are difficult to deal with river information.

Such a conventional technology has a disadvantage in that it is difficult to obtain special information such as fluctuations in the river basin, and the user using the digital map database on the server cannot be updated in real time at the shooting site, thereby providing accurate data quickly.

The present invention has been made to solve the above-mentioned problems, and coordinates and corrects the flow path changes of the river in the measurement vehicle through a digital photogrammetry using two vehicles, and the coordinate data of the corrected digital map is wireless Internet. The main object of the present invention is to provide a wireless terminal system that quickly updates and corrects a digital map database on a GIS server without error.

In order to achieve the above object, the present invention measures a river fluctuation using a vehicle equipped with a CCD camera, a GPS (Global Positioning System), an INS (Inertial Navigation Systems), a computer, a wireless Internet-enabled terminal, A wireless terminal system that can update a river information database by connecting to a river information GIS server via the Internet, comprising: a) two vehicles equipped with a CCD camera, INS, GPS, and a wireless Internet-enabled terminal to Measuring means for moving and measuring an image signal and a positional information about a stream flow path from a CCD camera, an INS, and a GPS; b) receiving means for accessing a river information GIS server through a wireless Internet and receiving digital map data of a corresponding measurement area; c) coordinate acquiring means for introducing a calibration coordinate of a reference point to correct the coordinates acquired by the digital photographic survey from the computer of the vehicle, and obtaining the coordinates of the reference point by numerically surveying the position of the reference point; d) Error coordinates (error coordinates (Dx, Dy, Dz) that eliminate errors in digital photogrammetric coordinates using the coordinates obtained from the coordinate acquisition means are Dx = Gx-Bx, Dy = Gy-By and Dz = Gz- Bz, where i = 1, ...., n, (Bx, By, Bz) is the calibration coordinates of the reference point, and (Gx, Gy, Gz) is the coordinate obtained from the reference point) Coordinate obtaining means; e) Correction coordinates (where, correction coordinates (Xt_i, Yt_i, Zt_i) are Xt_i = X_i-Dx, Yt_i by removing errors of numerical photogrammetric coordinates obtained from two vehicles with the error coordinates obtained by the error coordinate obtaining means. = Y_i-Dy and Zt_i = Z_i-Dz, and (X_i, Y_i, Z_i) are digital photogrammetric coordinates obtained from two vehicles. Correcting coordinate obtaining means for obtaining; f) converting the corrected data into a * .DXF file when the corrected coordinates obtained by the corrected coordinate acquiring means are not recorded in the digital map data by comparing the coordinates of the river basin digital map database received from the GIS server. Comparing processing means to a GIS server via a wireless Internet; And g) update processing means for processing the * .DXF file transmitted from the comparison processing means to update the digital map database of the GIS. Provides a wireless terminal system.

delete

In the present invention, the spatial geographic data is obtained by acquiring a three-dimensional position of a measurement object as an image using two CCD cameras. Digital photogrammetry is a technique that finds three-dimensional pairs of identical spots on two or more overlapped digital photographs, and calculates them numerically using a computer.

The digital photogrammetry technique mainly uses a vehicle, which is briefly described as follows.

The general system configuration of a digital photogrammetry system using a vehicle uses a system integrating GPS (Global Positioning System) and INS (Inertial Navigation Systems) and two or more CCD cameras.

GPS is a military purpose system created by the US Department of Defense in early 1970 to measure the position of objects on Earth. However, it is now widely used in the private sector. GPS can be used to get location and time. Twenty four GPS satellites (actually 27, including three complementary satellites) continue to rotate the Earth's atmosphere in different orbits. This is to obtain four or more satellite signals at any time on earth. In order to measure position, signals must be received from at least four satellites simultaneously. Of course, if you receive signals from more satellites, you can get more accurate position values. The GPS receiver has 4 channels and 8 channels according to the number of satellite signals processed simultaneously.

Mainly, GPS is used along with electronic maps for navigation devices of airplanes, ships, and vehicles, and it is also used for locating moving objects such as people and vehicles. In addition, personal portable GPS receivers have been developed and used for unknown exploration and self positioning during military operations. Recently, GPS receivers have also been developed in portable cordless phones.

INS (Inertial Navigation Systems) is a device that measures the angular acceleration / acceleration of moving object and calculates the current position, velocity and direction by performing continuous integration over time. Create a reference table that maintains and mount a precision accelerometer on it to mount it on rockets, aircraft, moving objects, etc. Unlike GPS, necessary information is obtained through sensors installed in the main body without external assistance.

INS is a feature that can determine its location without external help. It is not affected by terrain and weather, and it is possible to obtain attitude information that is difficult to implement with GPS, so it is essential equipment for weapon system that needs location and attitude information. In addition, it has the advantage of being more useful than GPS because it can detect the position and posture without interference, but it also has the disadvantage of periodically correcting it by inputting the initial position and increasing the position error as the moving distance increases. In the present invention, in order to minimize the disadvantages applied INS in the form of correcting the position in conjunction with the GPS.

Vehicle photogrammetric techniques can be used to determine the exact location of all objects that appear in both cameras. The location information of a digital photogrammetry system is determined by a GPS receiver, but it is not recommended to use GPS alone because of the relatively low data rate (1 Hz) and the minimum of four satellites. In order to make up for the shortcomings of the GPS, the inertial navigation system (INS), which can obtain high-precision position and attitude information at high frequency for a short time, is used in conjunction. By integrating the GPS and the inertial navigation system, accurate GPS positional information updates the data of the inertial navigation system, and the inertial navigation sensor provides data while there is no GPS signal. Inertial navigation systems are relatively expensive and often use the wheel speed sensor. The wheel sensor is mainly attached to the two wheels of the vehicle to calculate the change in the direction of the vehicle as well as the resulting distance. Visual synchronization of the starting point of the observation between the various sensors and the GPS allocates the observations and time of the wheel sensor and the altitude meter using the signals of the GPS receiver generated every second. In addition to the altitude meter, the wheel sensor is widely used as an additional device for positioning to overcome the signal blocking section.

In terms of photogrammetry, a digital photogrammetry system using a vehicle is a stereoscopic imaging system using GPS / INS position and attitude information. Just as a person finds the distance of an object with two eyes, the position information of all objects shown in the two images can be known. All images have position and posture information at the moment the image is determined by the GPS / INS device.

In order to process the acquired image, the state of each sensor and the deviation vector and rotation angle of each sensor are observed in the laboratory before the actual observation work on the photographed area. The stationary three-dimensional survey target can be used to determine the camera's internal expression elements (focal length, dominant and lens distortion parameters) and external expression elements (position and posture when shooting the camera). It is also a necessary process to find the internal expression factor of, but it is also necessary to integrate CCD / GPS / INS because it can calculate the external expression factor like aviation triangulation. The deviation of the GPS / INS integration result of the same time zone as the result of the camera calibration can be calculated by calculating the vector and rotation matrix to obtain the external expression elements for all the images captured in the field survey.

In the present invention, a process of correcting through error coordinates from the data measured by the numerical photogrammetry system is described as follows. The error coordinates (Dx, Dy, Dz) are Dx = Gx-Bx, Dy = Gy-By and Dz = Gz-Bz, and the correction coordinates (Xt_i, Yt_i, Zt_i) are Xt_i = X_i-Dx, Yt_i = Y_i -Dy and Zt_i = Z_i-where Dz where i = 1, ...., n, (Bx, By, Bz) is the calibration coordinates of the reference point, and (Gx, Gy, Gz) is obtained from the reference point Coordinates, and (X_i, Y_i, Z_i) are coordinate values obtained through digital photogrammetry.

Looking at the configuration of the present invention for a wireless terminal system for updating the flow of the river euro in the digital map to build a river information GIS, two vehicles with a built-in CCD camera, GPS, INS, computer, a terminal capable of wireless Internet and And means for updating the river information database by being connected to the river information GIS server through a wireless internet terminal in the vehicle.

The wireless terminal system for updating river flow path information according to the present invention comprises measuring means for measuring position information, data receiving means, coordinate acquiring means, error coordinate acquiring means, correction coordinate acquiring means, data comparison processing means and update processing means. do.

In the system of the present invention, image data and numerical data of rivers obtained from digital photogrammetry using a vehicle are analyzed and compared with recent river digital map data downloaded from a GIS server through a wireless Internet from a computer provided in the vehicle. After checking, if there is an error, the river numerical map is updated to reflect the error.

The process of updating the stream digital map from the above configuration will be described.

(i) Collect image data and numerical data on stream flow paths obtained by digital photogrammetry of rivers in two vehicles.

(ii) Geometrically correct the image data based on the coordinate information of the numerical data so that the collected image data and the numerical data have the same position information. Geometric correction refers to correcting spatial distortions in the horizontal direction of image data.

(iii) Correctly correct the photographed area relief displacement error of the photographed data. Ortho-correction refers to correcting horizontal distortion and terrain distortion. It is usually calibrated using Digital Elevation Model (DEM) and Ground Control Point (GCP).

(iv) Coordinate digital photogrammetric data that has undergone geometric and orthodontic correction.

(v) Comparing and analyzing the obtained digital photogrammetric coordinates with the digital map data of the stream euros downloaded from the GIS server, and checking if there is an error. Update the numerical map of the river.

Numerical photogrammetric coordinates obtained through the above process generally have a lot of errors. If the digital photogrammetry coordinates are used as the data to be applied to the river digital map, the reliability of the digital map data will be inferior. Therefore, it is necessary to correct the data obtained by the digital photogrammetry to update the accurate data on the digital map.

The steps of correcting the coordinates obtained from the digital photogrammetry are as follows.

(i) introducing calibration coordinates of the reference point to correct the coordinates acquired by the digital photographic survey using coordinate obtaining means, and obtaining the coordinates of the reference point through the digital photographic survey at the position of the reference point;

(ii) acquiring error coordinates by using the coordinates obtained in the step (i) by using the error coordinate acquiring means to remove an error of the digital photographic survey coordinates;

(iii) obtaining correction coordinates by eliminating errors in the digital photographic survey coordinates with the error coordinates obtained in step (ii) by using correction coordinate obtaining means; And

(iv) confirming the updated numerical map by applying the correction coordinates obtained in the step (iii) to the stream numerical map using data comparison processing means and update processing means.

In the present invention, a reference point including correct coordinates is introduced to correct coordinates obtained by digital photogrammetry, and a system for correcting digital photogrammetry coordinates is introduced using the coordinates of the reference point. The coordinates introduced to explain the method of correction in the correction coordinate obtaining means are as follows.

(Bx, By, Bz) is a coordinate corrected exactly as the coordinate of the reference point. (Gx, Gy, Gz) are coordinates obtained from the reference point of the digital photographic survey photo. Since (Bx, By, Bz) of the reference point are corrected coordinates, the coordinate of the reference point is used to correct digital photogrammetry coordinates.

As described above, since the error is carried in the coordinates, the coordinates (Gx, Gy, Gz) obtained at the reference point may be different from the calibration coordinates (Bx, By, Bz) of the reference point. If the error coordinate is expressed as (Dx, Dy, Dz), the relation with the calibration coordinate of the reference point is as follows:

Dx = Gx-Bx;

Dy = Gy-By; And

Dz = Gz-Bz.

The coordinates obtained from the digital photogrammetric data are (X_i, Y_i, Z_i), where i = 1, ..., n. Here, i is an index indicating the position of the point selected to obtain the coordinates from the numerical photogrammetry data, and n means that the coordinates are composed of n pieces.

The coordinates (X_i, Y_i, Z_i) obtained from the numerical photogrammetry from the defined coordinates are corrected by the error coordinates, and the relationship between the corrected coordinates (Xt_i, Yt_i, Zt_i) and the error coordinates is as follows:

Xt_i = X_i-Dx;

Yt_i = Y_i-Dy; And

Zt_i = Z_i-Dz.

Therefore, the coordinate values of the points selected from the actual digital photogrammetry data are (X_i, Y_i, Z_i), but since the coordinates contain errors, the coordinate values (Xt_i, Yt_i, Zt_i) corrected for the coordinates are applied to the digital map. The result.

With reference to the drawings will be described in detail the performance of the present invention.

FIG. 1 is a wireless terminal system for constructing a river information GIS for performing digital photogrammetry of a river using a vehicle and updating the same on a digital map through a wireless Internet. Two vehicles are equipped with CCD camera, GPS, INS, computer, and wireless internet terminal, and can receive location information through satellite, and connect to GIS server via wireless internet to send and receive database files for the shooting area It is a system that can do it.

2 shows a sequential use flow of means for performing digital photogrammetry of rivers and applying them to river information GIS database updates. A numerical photographic survey is performed on the changed river flow path (dashed line in FIG. 1) using a vehicle. In this case, the CCD camera collects an image of a photographing target on a predetermined time basis.

The GPS (Satellite Navigation Device) is synchronized with the image data of the CCD camera to collect positional information of the camera at the time of image capture. The INS (Inertial Navigation System) collects camera posture information and position information of the image data by the camera. Computers in a vehicle apply coordinates to a digital map through the collected image data and numerical data. The data are then geometrically and orthogonally corrected to correct for spatial distortions in the horizontal direction and distortions caused by the terrain. Data obtained through geometric and orthodontic correction are re-coordinated to obtain digital photogrammetry coordinates. The digital photogrammetry coordinates thus obtained are checked for errors with the digital map data, and if there are errors, the digital photograms are reflected on the digital map and updated, and the process is repeated for each coordinate.

After the image obtained from the CCD camera is coordinated by pixel unit, the correction coordinate acquisition means is obtained, and the pixel coordinates of the file downloaded from the GIS server are compared. The downloaded file is preferably a file extension of * .DXF. Drawing Exchange Format (DXF) stands for Drawing Exchange Format. It is an industry-standard file format for exchanging design drawing files between different computer-aided design (CAD) programs. If there is a change, each field CAD software is used on the vehicle's computer to convert the result obtained by the digital photogrammetry into * .DXF and reflect the result, and transmit the result to the GIS server to modify the file of the digital map database.

Coordination and DXF file conversion are performed on a computer in a vehicle. Such numerical maps are realized by GIS software. The most common softwares are AutoMAP, developed by Autodesk in the US, and PCARC / INFO, developed by ESRI.

The digital map should contain the following types of information: Coordinates, which are the positional information of elements drawn in the drawing, include geographic information indicating the position and shape of lines, arcs, polygons, etc. in the coordinate system, and geographic information. Output information to be displayed and phase information to indicate the phase relationship between each figure element should be provided on the digital map. Geographic information is mainly represented as POINT, LINE, POLYLINE, etc., and attribute information is classified as LAYER, and is expressed as TEXT, ATTRIB, XDATA, external DB, and output information is COLOR, LINE Width, LineTYPE, HATCH Pattern, TextSTYLE, etc. It is expressed as

Converting the captured image into a DXF file results in a database of elements displayed on the screen in AutoCAD. Therefore, in order to have a drawing file structure, a table of various elements must be defined.

In order to define and process database of numerical map, it is necessary to use Structured Query Language (SQL), SQL Interface, and ASE (AutoCAD SQL Extension), and these programming techniques can be used to access and manipulate numerical data.

As described above, the data of the flow path changes of the photographed streams are coordinated through correction, and the updated result is transmitted through the wireless Internet, thereby quickly constructing an updated GIS system.

Wireless Internet transmission can be performed by embedding the wireless Internet in a computer in the vehicle, or can be transmitted and received through a dedicated terminal. Recently, there may be a wireless Internet service provided by a telecommunication company.

In addition, GIS data has a burden of processing and transmitting a large amount of data compared to the general data, which can cause a serious response time delay. This requires minimizing the amount of data to be processed and transmitted. Therefore, only updated and changed data can be transmitted in a short time, and an updated river information GIS that reflects the flow of the river can be quickly constructed.

In the present invention, since the river flow path indicated by the dotted line is only an update of the numerical photogrammetry coordinates, an error is very likely to be carried. Such a digital map should be corrected by removing the error in the future, and the process is as described above.

Therefore, the present invention obtains accurate coordinates by correcting the numerical photographic survey coordinate values by using the coordinates of the reference point in the contents of the numerical map to quickly update the numerical map through the digital photographic survey coordinates, and update the numerical map by reflecting the It is a wireless terminal system that can determine the digital map.

The specific parts of the present invention have been described in detail above, and it is apparent to those skilled in the art that such specific descriptions are merely preferred embodiments, and thus the scope of the present invention is not limited thereto. something to do. Thus, the substantial scope of the present invention will be defined by the appended claims and their equivalents.

As described in detail above, according to the present invention, in the wireless terminal system which updates the database of the GIS server by reflecting the change of the river flow path through the wireless Internet, the digital photograph from two vehicles equipped with the CCD camera, the GPS and the INS Survey and compare the data of digital map with data acquired through digital photogrammetry. If the data is not recorded in the digital map, the digital map can be updated quickly as well. The user can provide a wireless terminal system that updates a digital map in real time by introducing a calibration coordinate of the digital photogrammetric coordinates at the measurement site through the wireless Internet and updating the database on the digital map server.

1 is a river information GIS construction system for performing a digital photogrammetry of a river using a vehicle and updating it to a digital map through a wireless Internet.

2 shows a sequential use flow of means for performing digital photogrammetry of rivers and applying them to river information GIS database updates.

<Description of the symbols for the main parts of the drawings>

10: Euro S of the Modified River: GPS Satellite

Claims (2)

Measure changes in rivers using a vehicle equipped with a CCD camera, GPS (Global Positioning System), INS (Inertial Navigation Systems), a computer, and a wireless internet enabled terminal, and connect to the river information GIS server via wireless internet. In the wireless terminal system that can update the information database, a) Two vehicles equipped with a CCD camera, INS, GPS, and a wireless Internet-enabled terminal move the area to be measured in the stream, and measure the video signal and location information of the stream flow path from the CCD camera, INS, and GPS. Way; b) receiving means for accessing a river information GIS server through a wireless Internet and receiving digital map data of a corresponding measurement area; c) coordinate acquiring means for introducing a calibration coordinate of a reference point to correct the coordinates acquired by the digital photographic survey from the computer of the vehicle, and obtaining the coordinates of the reference point by numerically surveying the position of the reference point; d) Error coordinates (error coordinates (Dx, Dy, Dz) that eliminate errors in digital photogrammetric coordinates using the coordinates obtained from the coordinate acquisition means are Dx = Gx-Bx, Dy = Gy-By and Dz = Gz- Bz, where i = 1, ...., n, (Bx, By, Bz) is the calibration coordinates of the reference point, and (Gx, Gy, Gz) is the coordinate obtained from the reference point) Coordinate obtaining means; e) Correction coordinates (where, correction coordinates (Xt_i, Yt_i, Zt_i) are Xt_i = X_i-Dx, Yt_i by removing errors of numerical photogrammetric coordinates obtained from two vehicles with the error coordinates obtained by the error coordinate obtaining means. = Y_i-Dy and Zt_i = Z_i-Dz, and (X_i, Y_i, Z_i) are digital photogrammetric coordinates obtained from two vehicles. Correcting coordinate obtaining means for obtaining; f) converting the corrected data into a * .DXF file when the corrected coordinates obtained by the corrected coordinate acquiring means are not recorded in the digital map data by comparing the coordinates of the river basin digital map database received from the GIS server. Comparing processing means to a GIS server via a wireless Internet; And g) Wireless updating of the digital map database of the river information GIS via the wireless Internet, characterized in that the update processing means for processing the * .DXF file transmitted from the comparison processing means to update the digital map database of the GIS Terminal system. delete