4.3 Plane-table survey with handy type inertial de- 
vice(making a map) 
In the experiment, the shape of the pond was measured in 
the traverse point with the inertial device (Figure 4-3). 
Original point O (point C in previous traverse experiment) 
was set up by the pond, the device block as initialization 
on point O was put on the Transit plinth, and it was in 
stalled so that the detection axis of accelerometer x axially 
might turn to north by the azimuth magnetic needle. Also, 
the block in hand was moved from point 0 to the corner (8 
points in all) of the pond, it was put on the corner, and the 
measurement was ended there. Also, after returning to 
point O again and performing the same initial setup, and 
measurement was made up to the next survey point. Thus 
after measurement for 1 point was finished one by one, 
again it returned to point O. And after performing the initial 
setup, the experiment was made by the method of meas 
uring even the following point. Figure 4-7 shows the ex 
periment result. 
!• 
.**■ / 
/ 
/ 
ff* 
V ft 
SL--^ 
/ 
. ✓ 
> h 
- 
I 
\ 
\ 
1 
>< 
/ 
-30 -20 -10 0 
E-W direction distance(m] 
Outline of pond ° a *c ■ « *0 — TEST 1 
Original point O ♦ b od ♦ f Ah — TEST2 
Figure 4-7 Plane-table survey result 
The original point in figure is point O. And the characters 
from a to h indicate the corners (measured points) of the 
pond. The shape of the pond cannot be expressed at all 
according to Figure 4-7. The measurement result of point a 
which is the nearest to point O is plotted in about the point 
a, but the measurement result in other points is not stable, 
and contains a big error. The dotted line is TEST1, and the 
short dashes line is TEST2. Even though the plane-table 
survey made movement of the device distance with the 
traverse survey, the calculation result became quite differ 
ent from each other. Different points to be enumerated 
between the traverse survey experiment and the plane- 
table survey experiment are that the device block was 
installed in the truck in the traverse survey experiment, but 
it was moved by hand in the plane-table survey. Therefore, 
it is thought that the reason why the error was greatly 
calculated by the actual experiment is because the device 
block was moved by hand. When moving with the device 
block in hand like in the experiment at this time, movement 
becomes complex and when data is analyzed, a quite 
different result is obtained. When moving with the device 
block in hand even if the device block is moved as slowly 
as possible (In the actual experiment, it was moved as 
slowly as possible.) a minute movement when moving with 
the device block in hand or minute vibration and the impact 
when walking surely affect accelerometer and the vibration 
gyro. Such movement can be thought not as the accelera 
tion to the movement but only useless. Therefore, it is 
thought that the shape of the pond was not able to be 
shown because of a lot of the errors calculated with a lot of 
such useless operations. From the above-mentioned, we 
think it necessary for devising the external force error 
factor like the vibration and the impact not to join accele 
rometer and the gyro, and shortening the movement time 
when moving with the inertial device in hand. 
5.Development of the Close Range Photogrammetry 
without using any Control Points. 
Information on the position and attitude of a camera can 
be obtained by installing a camera with accelerometer and 
gyroscope. The purpose of this paper is to develop a pho 
togrammetry without using any control points using a 
camera with an installed inertial device. 
5.1 Inertial device camera system 
Fig.5-1 shows the inertial device camera that was made by 
the authors. This camera is mounted with the vibration 
gyroscopes and accelerometers installed on three axes, 
and information on the position and attitude of the camera 
can be obtained. The camera used is non-metric 35mm 
still camera. The camera is calibrated in advance. 
Fig.5-1: Inertial device camera 
5.2 Three-dimensional measurement by using inertial 
device camera 
This paper runs the experiment of three-dimensional 
measurement by using an inertial device camera as fol 
lows. 
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