6B-5-1 
'imm 1 
BBaB ■ 
Fundamental Study on Development and Application of the Local 
Positioning System using Accelerometer and Gyroscope 
Toshio KOIZUMI 
Dep. Civil Eng., 2-17-1,Tsudanuma,Narashino-shi,Chiba,275-0016,Japan, Chiba Institute of Technology 
E-mail: koizumi@ce.it-chiba.ac.jp 
Yasuyuki SHIRAI 
Dep. Precision Eng., Associate Professor, Chiba Institute of Technology 
E-mail: shirai@cc.it-chiba.ac.jp 
Atsuro TAKEMOTO 
Dep. Computer Center, Associate Professor, Chiba Institute of Technology 
E-mail: atakemoto@cc.it-chiba.ac.jp 
Commission n, Working Group 1 
KEY WORDS: INS, Positioning, Accelerometer, Gyroscope 
ABSTRACT 
The purpose of this paper is to develop a local positioning system using accelerometer and gyroscope.This system will be 
effective as the device of three-dimensional positioning in places where GPS cannot be used. This paper developed a 
monocycle type inertial survey ,a handy type inertial survey and an inertial photogrammetry device.In this paper, the 
authors performed a traverse survey, a leveling, a plane table survey, and a photogrammetry without using any control 
points by using the devices manufactured. As a result of the experiment, when expanding this research, valuable data 
could be obtained. 
1. INTRODUCTION 
As one of the fundamental study themes for progress in a 
mobile mapping technology, a development of equipment 
to exactly compute the position of moving objects such as 
platforms where a camera was installed in real time can be 
considered. In positioning the platform, there is GPS 
(Global Positioning System) as a certain means now. 
However, in the urban areas and the forest parts, etc., 
where the electric wave from the GPS satellite does not 
reach easily, the use of GPS is difficult. The authors have 
considered it effective to apply the inertial navigation sys 
tem as the device of three dimensional positioning in place 
where GPS cannot be used. 
This paper studied the positioning system to decide the 
position of some point of the surface of the earth, and 
application to the photogrammetry using the accelerome 
ter and the gyroscope which are used as a inertial naviga 
tion system. 
The concrete research items are shown in the following: 
1. The performance characteristics of the accelerometer 
and the gyroscope are experimentally examined. 
2. Development of the local positioning system using the 
accelerometer and the gyroscope. 
3. Development of photogrammetry without using any 
control points (Development of the inertial photogramme 
try system). 
Some effective basic materials necessary for the devel 
opment of the research were obtained, though there were 
some problems which will have to be solved in the future 
from the result of the research. The accelerometer and 
gyroscope were used, and a positioning system which was 
able to adjust to the limited part region was shown. Moreo 
ver, the method of photogrammetry which did not need the 
control points was presented. 
2.The principles of inertial positioning system and 
system configuration 
The accelerometer gives the acceleration voltage, and the 
gyroscope gives the angular velocity voltage. Accordingly, 
distance and angle can be got by equations (2-1)and(2-2). 
L=If a dtdt 
0 = 1 (o dt 
here L: distance, 
velocity 
" (2-1) 
- (2-2) 
acceleration, 
dt: time, 0 : angle 
The device is mounted with the vibration gyroscopes and 
accelerometers installed on three axes. This system takes 
an angular velocity voltage obtained by the vibration gyro 
scope ,and an acceleration voltage obtained by the accel-