Geoid measurement method, geoid measurement apparatus, geoid estimation device, and geoid calculation data collection device

Patent metadata

Field	Value
Publication number	US-11378397-B2
Application number	US-201917057862-A
Country	US
Kind code	B2
Filing date	Jun 4, 2019
Priority date	Jul 24, 2018
Publication date	Jul 5, 2022
Grant date	Jul 5, 2022

Abstract

A change in geoid height is measured easily. A geoid measurement method of the present invention executes an inertial measurement data acquiring step, a comparison data acquiring step, a state variable estimating step, and a geoid calculating step. In the inertial measurement data acquiring step, data related to velocity, position, and attitude angle is acquired as inertially-derived data based on the output of an inertial measurement part having a three-axis gyro and a three-axis accelerometer attached to a moving body. In the comparison data acquiring step, data related to velocity is acquired as comparison data from a source other than the inertial measurement part. In the state variable estimating step, state variables including a plumb line deviation are estimated by using the inertially-derived data and the comparison data to apply a Kalman filter in which the plumb line deviation is included in the state variables.

First claim

What is claimed is:

1. A geoid measurement method comprising:
an inertial measurement data acquiring step of acquiring data related to velocity, position, and attitude angle as inertially-derived data based on an output of an inertial measurement part having a three-axis gyro and a three-axis accelerometer attached to a moving body;
a comparison data acquiring step of acquiring data related to velocity as comparison data from a source other than the inertial measurement part;
a state variable estimating step of estimating state variables including a plumb line deviation by using the inertially-derived data and the comparison data to apply a Kalman filter in which the plumb line deviation is included in the state variables; and
a geoid calculating step of calculating a change in geoid height based on the estimated plumb line deviation at an estimated position that the estimating applied to.

2. The geoid measurement method according to claim 1 , wherein
the data related to velocity, position, and attitude angle acquired in the inertial measurement data acquiring step is data that is corrected using the estimated state variables.

3. The geoid measurement method according to claim 2 , wherein
in the geoid calculating step, a geoid height is calculated at each of the estimated positions based on information about a geoid height at a reference position acquired in advance.

4. The geoid measurement method according to claim 1 , wherein
in the geoid calculating step, a geoid height is calculated at each of the estimated positions based on information about a geoid height at a reference position acquired in advance.

5. A geoid measurement apparatus comprising:
an inertial measurement data acquisition part, provided with an inertial measurement part having a three-axis gyro and a three-axis accelerometer to be attached to a moving body, and that acquires data related to velocity, position, and attitude angle as inertially-derived data;
a comparison data acquisition part that acquires data related to velocity as comparison data from a source other than the inertial measurement part;
a state variable estimation part that estimates state variables including a plumb line deviation by using the inertially-derived data and the comparison data to apply a Kalman filter in which the plumb line deviation is included in the state variables; and
a geoid calculation part that calculates a change in geoid height based on the estimated plumb line deviation at an estimated position that the estimating applied to.

6. The geoid measurement apparatus according to claim 5 , wherein
the data related to velocity, position, and attitude angle acquired by the inertial measurement data acquisition part is data that is corrected using the estimated state variable.

7. The geoid measurement apparatus according to claim 6 , further comprising:
a recording part that records information about a geoid height with respect to a predetermined reference position, wherein
the geoid calculation part calculates a geoid height at each of the estimated positions based on the information about the geoid height.

8. The geoid measurement apparatus according to claim 5 , further comprising:
a recording part that records information about a geoid height with respect to a predetermined reference position, wherein
the geoid calculation part calculates a geoid height at each of the estimated positions based on the information about the geoid height.

9. The geoid measurement apparatus according to claim 5 , wherein the comparison data acquisition part captures radio waves transmitted from an artificial satellite.

10. The geoid measurement apparatus according to claim 5 , wherein the comparison data acquisition part includes a speedometer.

11. The geoid measurement apparatus according to claim 5 , wherein the gyro is a gyro using atomic waves or ions.

12. A geoid estimation device comprising:
a recording part that records inertially-derived data and comparison data in association with each other, the inertially-derived data being data related to velocity, position, and attitude angle acquired based on an output of an inertial measurement part having a three-axis gyro and a three-axis accelerometer attached to a moving body, and the comparison data being data related to velocity acquired from a source other than the inertial measurement part;
a state variable estimation part that estimates state variables including a plumb line deviation by using the inertially-derived data and the comparison data to apply a Kalman filter in which the plumb line deviation is included in the state variables; and
a geoid calculation part that calculates a change in geoid height based on the estimated plumb line deviation at an estimated position that the estimating applied to.

13. The geoid estimation device according to claim 12 , wherein
the recording part also records information about a geoid height with respect to a predetermined reference position, and
the geoid calculation part calculates a geoid height at each of the estimated positions based on the information about the geoid height.

Assignees

• Japan Aviation Electronics Ind Ltd
• Tokyo Inst Tech

Inventors

• Kozuma Mikio
• Inoue Ryotaro
• Hosoya Toshiyuki
• Tanaka Atsushi

Classifications

• G01C5/00

  Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels (G01C3/20, G01C3/30 take precedence) · CPC title

• G01V7/16

  specially adapted for use on moving platforms, e.g. ship, aircraft · CPC title

• G01S19/52

  Determining velocity · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title

• G01C15/00

  Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00 · CPC title