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@ : TRAVERSE POINT
Fig.9. Traverse points
(D Experiment No.1 (movement in X-axis direction)
movement by a wheel-barrow
-X,Y-axes accelerometers,and Z-axis gyro for use.no
vibration isolation-
For the caluculation expression the following
expression was used.
- K rotation(around Z-axis)
X n COS x« -STN'« X
(x e M COS k Mn |
The ratio of closure was 1/5.
From these data,it has turned out that the value of the
Y-axis accelerometer is outputted although it was
moved in the X-axis direction.As the reason,it is
thinkable that the Y-axis accelerometer,in which the
vibration during the measurement. or the change in
acceleration is hardly considered to exist.includes an
error due to resolution in the A/D conversion or that
there is vibration from the ground.
(2)Experiment No.2 (movement in X-axis direction)
movement by a wheel-barrow
-X-axis accelerometers, and Z-axis gyro for use ,no
vibration isolation-
This result has been obtained when the analysis was
performed with a X-axis accelerometer and Z vibration
gyro using the same data as that used in the
Experiment No.l,and without using the value of the
Y-axis accelerometer which ought to have hardly
changed.For the calculation expression, the following
expression was used.
+ k rotation(around Z-axis)
X ax 110 a OD Sak
Ya = SNK
From this experiment,it can be seen that the ratio of
closure is increased by the influence of the integral
error of the Y-axis accelerometer on the ratio of
11
closure.
(3)Experiment No.3 (movement with X and Y-axes
inclined 45° respectively) movement by a wheel-
barrow
-X-axis accelerometerY-axis accelerometer and Z-axis
gyro for use,no vibration isolation-
A X-axis accelerometer and a Y-axis accelerometer
were inclined at an angle of about 45° toward the
traveling direction respectively for the experiment.For
the calculation expression,the following expression
was used.
* K rotation(around Z-axis)
Expressing by using rotation matrix of 2X 2
X a CO S x^ -sSTNX X
[ebore eus ci Mas o
In this method,the accelerometers for two X and Y-
axes output the voltage value to share it in the
traveling direction.In this case,the ratio of closure was
1/80 .
When the measurement is performed with two X and
Y-axes in this way,the percentage of the error in the
measured acceleration voltage value reduces and the
ratio of closure increases.
Next,since the vibration received from the ground
during measurement was cosiderably great, the
vibration was insulated for the experiment.In the
experiment,an inertial device was provided on an
automobile (station wagon),and the other
battery,personal computer,etc. ware provided at the
rear of the automobile.Also,a plumb bob was attached
to the rear bumper of the automobile about 20cm
behind the inertial sensor and a circle of about 10cm in
radius was drawn at the survey point so that the
plumb bob comes to the center of the circle.
(4) Experiment No.4 (movement in X-axis direction)
movement by an automobile.
-X-axis accelerometer,and Z-axis gyro for use,with
vibration isolation-
When the vibration was isolated,and it was moved in
the X-axis direction,the experiment was performed
using the X-axis accelerometer and Z-axis vibration
gyro.For the calculation expression the following
expression was used.
* K rotation(around Z-axis)
X a = X 60S.
Y v= V's S HN k
The ratio of closure was 1/30.
From this experiment,the ratio of closure was
increased as compared with the experiment performed
under the same conditions,and the vibration-proof
effect was seen.
International Archives of Photogrammetry and Remote Sensing. Vol. XXXI, Part B1. Vienna 1996
