Yasuyuki Shirai 
  
  
  
  
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Experiment 8 Experiment 12 
  
  
  
  
  
  
  
  
  
  
  
  
  
   
  
  
  
  
  
  
  
  
  
3 ~~~ Experiment 9 = » » « < ‘Experiment 13 
i 3 
= Experiment 10 = Experiment 14 
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2 DM Experiment 11 g ressent Experiment 15 
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= Actual = Actual 
A measurement a measurement 
D 2 5 Le ¥ 5 SR Rd 
Horizontal distance[m] escent Horizontal distance[m] Ascent 
Figure 13. Running through chart (With vehicle speed sensor) Figure 14. Running through chart (With vehicle speed sensor) 
The posture correction by which the posture which has changed hourly first of all by calculations process is horizontally 
mended is done to accelerometers and gyros of x, y, and z axis in the measuring accuracy of the difference of elevation 
in the combination of the accelerometer and the gyro. And, the difference of elevation is obtained from the acceleration 
of Z axis which shows the direction of height afterwards, and it is thought that the error of other axes is not received 
easily because the value of the accelerometer of z axis is a main element. 
However, it is thought that the error was greatly caused compared with the difference of elevation to consider two or 
more axes such as X and Y axes in the measurement of the distance. 
5 CONCLUSIONS 
This study aimed at the development of the method of obtaining the difference of elevation by using the accelerometer 
and the vehicle speed sensor. The research result is brought together as follows. 
In the distance measurement, the combination of vehicle speed sensors became a result in which accuracy is better 
than the combination of gyros. 
The combination of gyros became a result with comparatively good accuracy about the measurement of the 
difference of elevation. 
It is thought that accuracy was comparatively good because the movement time was short concerning the horizontal 
movement experiment. Moreover, it is thought that accuracy was not good because the experiment time was longer than 
the horizontal movement experiment concerning the large area leveling. 
Moreover, the following are thought as development in the future: 
The reexamination of theoretical formula and the correction element such as other sensors are added. 
The gap between acceleration obtained from the accelerometer and acceleration obtained from the vehicle speed 
sensor is lost, and is matched for beginning to move for increasing the number of pulses obtained for the tire one 
surroundings. 
Because an unstable operation of the vehicle speed sensor was seen when beginning to move, the vehicle speed 
sensor is selected. 
The shake is prevented reinforcing a rear car because it is thought that strength shortage of the stand is seen for a rear 
car made of aluminum, and the shake when moving became a error source. 
It is thought that accuracy is improved by these. If a more efficient device is developed because the individual 
equipment used by this research has evolved every day, and the inertia device comes to be put to practical use, it is 
possible to use in not only the field of engineering works but also various fields, and a large influence will be produced 
in a present measurement form. 
REFERENCES 
Aoki, T., 1996, Fundamental Study on Inertial Surveying. In: International Archives of Photogrammetry and Remote 
Sensing, Vienna, Vol.XXXI, Part Bl, pp.6-12. 
Suzuki, H., 1998, Real-time measurement of altitude data using the accelerometer. In: International Archives of 
Photogrammetry and Remote Sensing, Hakodate, Vol. XXXII, Part 5, pp.278-283. 
  
306 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part Bl. Amsterdam 2000. 
  
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