: elevation 
nent place 
w the plan 
int place 
done from 
levice had 
rned on in 
gyro and a 
n and the 
  
ame good 
elevation 
> was able 
ion of the 
ration are 
1sed at the 
rement of 
  
  
Yasuyuki Shirai 
Table 3. Result of accelerometer and vibration 
       
      
        
    
    
   
      
   
   
erence o 
elevation 
erence o 
elevation 
     
     
      
      
       
Horizontal 
distance [m ] 
Difference o 
elevation[m ] 
distance distance 
     
      
       
Way [m ] Way error [m error[m ] error [m ] accuracy 
        
    
         
   
  
  
80. 
   
245.834 
   
   
  
201 
  
   
Xper 
  
    
verage 
      
  
ct measuremen 
  
   
   
t 
it 
  
6 
  
Table 4. Result of accelerometer and fiber ical 
    
     
   
           
      
   
     
    
      
erence o 
elevation 
       
      
     
    
      
     
        
Horizontal 
distance [m] 
      
   
        
Difference o 
elevationfm ] 
distance distance elevation 
error[m ] 
Way 
accuracy 
   
     
    
      
      
       
  
    
       
Way [m ] Way error [m error [m ] accuracy 
   
        
  
measur 
  
  
75.811 
66.122 
  
  
  
  
       
  
             
       
         
8 
   
  
66.132 0.352 1/2 
       
230.091 
  
   
t 
t 
/ 
  
     
     
  
/ 
/ 
        
    
  
verage 
  
   
measuremen 
      
t 2 
  
     
             
r t 
   
   
  
3 
        
11.468 
riment 14 
   
   
  
  
1 
  
  
  
            
       
verage 
Table 5. Result of accelerometer and vehicle s sensor 
erence o 
elevation 
error[m ] 
    
         
   
       
   
    
     
      
     
      
erence of 
elevation 
zon 
distance 
       
          
       
       
distance 
error[m ] 
Horizontal | Difference o 
distance [m ] 
              
        
   
          
        
     
     
Timels] Way [m ] elevation ] f Way error [m accurac 
       
          
124.4 
.. 
  
measuremen 
t8 
        
  
168.510 
       
      
      
164.067 
  
3.6 
   
83 4.541 9.142 
  
i/i 
    
   
  
   
   
    
it 
t 
verage 
  
    
      
  
measuremen . ^. . = 
   
t 
    
   
   
    
+ 
t 
       
5 
  
   
iment 14 
     
r 
x 
r 
I. 
   
   
xpe 
Average 
2 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
   
  
  
  
  
  
  
15 | : nee encens 15 
10 —— — ees 10 
= ; Experiment 1 = 
= 5 pe = 5 Experiment 5 
a | EE Experiment 2 ë 
$ 0 " 3 0 *** * Experiment 6 
9.5 200 Experiment 3 = 
5 o n5 i 
o es © Experiment 7 
2 -10 -— 0 e Experiment 4 s -10 _ rer 
5 8 : 2 ; Actual 
= -15 . Actual = -15 * measurement 
E E measurement a o 0 2 : : 
-20 — -20 [ : : em 
-25 mm -25 id a... HESS us 
Horizontal distance[m] Descent Horizontal distance[m] Ascent 
Figure 9. Running through chart (With vibration gyro) Figure 10. Running through chart (With vibration gyro) 
15 15 
10 10 
= Experiment 8 = Experiment 12 
Ss 5 E S ! 
S === = Experiment 9 * « = » « «Experiment 13 
> 0 > 0 
S 2 
= 5 Experiment 10 = .5 Experiment 14 
o. 
o 
ë „10 (Rte | == ==> > Experiment 11 2 „10 pre | - > Experiment 15 
2 e 
= -15 Actual = =18 Actual 
2 measurement 20 measurement 
-20 = 
-25 -25 
Horizontal distance[m] Descent Horizontal distance[m] Ascent 
Figure 11. Running through chart (With fiber optical gyro) Figure 12. Running through chart (With fiber optical gyro) 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part Bl. Amsterdam 2000. 305