date 1998 
arched for 
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ed widely 
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|. Method 
nation of 
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termined. 
contained 
> position 
and inclination by the movement of itself, and has some 
features compared with the method of using GPS and 
Theodolite. Under the present conditions, effectiveness is 
found in the photogrammetory in the ground and the local 
region where an electric wave can not be received. 
In addition, it is thinkable that a result in higher accuracy 
may be obtained by using more expensive and accurate 
devices. However, as this is fundamental research, 
development and study were performed in the hope of 
developing inexpensive system. Therefore, the result here 
was obtained using the device adopted in this study. 
2. COMPOSITION OF THIS SYSTEM 
In the system of the photogrammetory done with an inertial 
device, a gyroscope and an accelerometer which were 
installed at right angles to each other were equipped with 
camera in this study. Data from gyroscope and 
accelerometer is converted from analogue into digital 
through the A/D conversion board, and is taken into the 
personal computer. Then, the position and the inclination 
of camera at time of taking a picture are calculated. 
On the other hand, the photograph taken with the camera 
is measured using a digitizer, and a analysis of the 
photograph is performed in the position and the inclination 
of a camera which were obtained from the gyroscope and 
the accelerometer. 
3. INERTIAL DEVICE 
3.1 Vibration gyroscope 
Vibration gyroscope was used for the gyroscope in this 
study. The vibration gyroscope used for this measurement 
is the ENV-05A piezo-electric vibration gyroscope of 
Murata Mfg. Co., Ltd. which is shown in Figure 1. 
Fig.1 Vibration gyroscope 
3.2 Accelerometer 
The accelerometer used for this measurement is the JA- 
SVC1 accelerometer of Japan Aviation Electronics 
Industry., Ltd. which is shown in Figure 2. 
4. Experiment 
In the photogrammetory done with an inertial device 
described in of this study, measurement is done by 
  
     
calculating from gyroscope and accelerometer, the 
position and the inclination of camera at time of taking a 
picture, i.e., an exterior orientation element. 
The camera used in this study is a non-metric camera. 
Therefore, there is no fiducial mark in the camera, and 
geometrical elements such as principal point position, 
principal distance, lens warp, and flatness of film are not 
given accurately. 
      
  
  
Fig.2 Accelerometer 
Then, the interior orientation element is requested from the 
control point arranged in three dimensions of the use to 
analyze a usual photograph at each experiment in this 
study. 
4.1 Experiment device 
The experiment device equipped with the inertial device in 
the camera is defined in this study as inertial camera. The 
inertial camera made for this study is shown in Figure 3. 
The camera used is a general single lens reflex camera. 
e 
Fig.3 Inertial camera 
The gyroscope and the accelerometer which are installed 
at right angles to each other are equipped with the camera. 
As a result, the three dimension position and the 
inclination of the camera when taking a picture are 
required. 
4.2 Three dimensional (3-D) measurement with inertial 
camera 
Experiment for three dimensional measurement with 
inertial camera was carried out outdoors as follows. 
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