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using a 
pordinate 
transformation was performed by using an expression 
of X=(acceleration value of X-axis) X cos « to calculate 
the plane coodinates.The accelerometer and vibration 
gyro ware provided on the carriage,a plumb bob was 
attached at the rear of the carriage for centering. 
The measuring time was about 30 seconds for 
10m,about 50seconds for 20m,and about 1 minute for 
30m. The error for the moving distance of 10m was 
1.32%(precision1/77),the error for the moving distance 
of 20m was 1.75%(precision1/57),the error for the 
moving distance of 30m was 2.56% (precision1/40). 
3.3Distance measuring experiment in the height 
direction 
Next,in order to calculate a height.a leveling rod was 
vertically installed,and an accelerometer was moved 
along the leveling rod in the vertical direction.An 
accelerometer installed on a block was mounted on a 
pedestal which had been placed to be horizontal along 
the leveling rod with a level, and was manually moved 
up to a predetermined height along the graduation on 
the leveling rod. The measuring time was about 10 
seconds for 50cm,about 10 seconds for 100cm.and 
about 15 seconds for 150cm.The error for 50cm was 
0.60%(1/170),that for 100em was 1.28%(1/80),and that 
for 150cm was 1.5396(1/70). 
The accelerometer for use with this research always 
outputs the gravitational acceleration,and when the 
detection axis direction of the accerelometer is in the 
vertical direction,a voltage of about 5V is outputted. 
According to the experiment, it could be confirmed that 
when an accelerometer,which always detects 
gravitational acceleration,is used,and has been moved 
in the vertical direction,the height along which it has 
been moved can be calculated.It is smaller than the 
above-described error when it has been moved in the 
horizontal  direction.As the causes therefor the 
following may be considerd:(D there were few data 
owing to the short measuring time,and the 
accumulated error for the integrated values was small; 
© there was less vibration(noise),etc.in the vertical 
direction during the movement; and (9 no coodinate 
transformation was performed because it was assumed 
that it was moved in the gravitational direction. 
4.Application to Survey 
4.1Leveling experiment and consideration 
In order to perform an experiment for calculating a 
height and a moving distance by using an inertial 
device,a wheel-barrow made of aluminium mounted 
with an inertial device was moved. 
For the experimental method,a difference in level of 
0.469m in a longitudional level difference was provided 
9 
on a horizontal distance of 4.765m shown in Fig.6,and 
the wheel-barrow mounted with an inertial device was 
moved to compare with the leveling using a level.The 
accelerometer in the X-axis direction,which is the 
traveling direction, was turned toward the next survey 
point,and was moved linearly between the survey 
points maintaining it horizontal with a level mounted 
on the wheel-barrow.As regards the survey points,a 
plump bob was attached on one side of the tire of the 
wheel-barrow for centering. 
The accelerometers and the vibration gyros installed to 
the three axes(See Fig.7). 
The data used for the analysis are X-axis 
accelerometer(Vx), X-axis vibration gyro( $ ),Y-axis 
accelerometer(Vy),Y-axis vibration gyro( o ),Z-axis 
accelerometer(Vz), Z-axis vibration gyro( « ). 
  
Fig.D.Experinment place 
Zaxis 
  
Xaxis Xa Ya Za: ACCELEROMETER Y axis 
Xa Ya Za: VIBRATION GYRO 
Fig.7 Three axes and sensors 
When rotary movement was performed by kx 
clockwise with respect to the posotive direction of Z- 
axis in an absolute coordinate system XYZ before 
movement,next similarly by $ around the Y-axis,and 
further by « around the X-axis in order,it is assumed 
that it can be converted to an inclined device 
coordinate system after the movement. 
For simplification,as regards X-coodinate value,Y- 
coodinate value,and Z-coodinate value in a device 
coodinate system which has inclined when the 
rotations by «. ¢ .and o were rotated independently 
International Archives of Photogrammetry and Remote Sensing. Vol. XXXI, Part B1. Vienna 1996