Geoid measurement method, geoid measurement apparatus, geoid estimation device, and geoid calculation data collection device

#The present invention relates to a geoid measurement method, a geoid measurement apparatus, a geoid estimation device, and a geoid calculation data collection device for calculating a change in geoid height or a geoid height by using an inertial measurement part having a three-axis gyro and a three-axis accelerometer.

#The technologies illustrated in literature such as Patent literature 1 and Non-patent literature 1 are known as technologies that correct data related to a position, a velocity, and an attitude angle calculated from the outputs of a three-axis gyro and a three-axis accelerometer based on data obtained from another sensor or the like. The data obtained from another sensor or the like is Global Positioning System (GPS) data in many cases, but may also be combined with data other than GPS, as illustrated in Non-patent literature 1. FIG. 1 is a diagram illustrating the “GPS hybrid navigation block diagram (loose cup method)” illustrated in FIG. 4 of Non-patent literature 1.

#Non-patent literature 2 is literature describing possibilities in the geodetic field, providing an explanation of and issues related to elevation, ellipsoidal height, and geoid height, and also illustrating possibilities when using an optical lattice clock. In Non-patent literature 2, elevation is described as “the height from mean sea level (geoid) to ground level, determined by leveling”. Ellipsoidal height is described as “the height from an Earth ellipsoid to ground level, determined by GNSS survey”. Geoid height is described as “the height from an Earth ellipsoid to mean sea level, a potential surface such as gravitational potential, with unevenness reflecting the heterogeneity of Earth's internal mass distribution”.

#FIG. 1 is a diagram illustrating the “GPS hybrid navigation block diagram (loose cup method)” illustrated in FIG. 4 of Non-patent literature 1;

#FIG. 2 is a diagram illustrating a functional configuration example of a geoid measurement apparatus, a geoid calculation data collection device, and a geoid estimation device;

#FIG. 3 is a diagram illustrating an example of a process flow of the geoid calculation data collection device;

#Hereinafter, embodiments of the present invention will be described in detail. Note that structural elements having the same function are denoted with the same signs, and duplicate description of such elements is omitted.

#<Apparatus Configuration and Process Flows>

#FIG. 2 illustrates a functional configuration example of a geoid measurement apparatus, a geoid calculation data collection device, and a geoid estimation device. FIG. 3 illustrates an example of a process flow of the geoid calculation data collection device, FIG. 4 illustrates an example of a process flow of the geoid estimation device, and FIG. 5 illustrates an example of the process flow of the geoid measurement apparatus. A geoid calculation data collection device 100 comprises an inertial measurement data acquisition part 120, a comparison data acquisition part 130, and a recording part 300. A geoid estimation device 200 comprises the recording part 300, a state variable estimation part 210, and a geoid calculation part 220. A geoid measurement apparatus 10 is a configuration comprising both the geoid calculation data collection device 100 and the geoid estimation device 200, and comprises the inertial measurement data acquisition part 120, the comparison data acquisition part 130, the state variable estimation part 210, the geoid calculation part 220, and the recording part 300. In addition, the geoid calculation data collection device 100 and the geoid estimation device 200 may also be separate. Note that it is sufficient to realize the geoid measurement apparatus 10, the geoid calculation data collection device 100, and the geoid estimation device 200 by causing a processing circuit such as a computer to execute an installed program.