Three-dimensional slope detection device and slope detection method thereof

A slope detection method comprising:

• calculating a horizontal plane (X-Y plane) of a horizontal coordinate system through a gravity sensor;
• calculating, from light quantity data of sunlight measured by each optical sensor, an incidence vector for an incidence direction of the sunlight on the basis of a local coordinate system;
• acquiring incidence angle information of the sunlight on the horizontal coordinate system by applying a time when the light quantity data is measured, latitude information, and longitude information to a sun path equation;
• confirming the horizontal coordinate system by calculating a true north direction (Y-axis direction) on the horizontal coordinate system through the horizontal plane (X-Y plane), the incidence vector, and the incidence angle information of the sunlight on the horizontal coordinate system;
• and
• calculating three-dimensional slope information of the local coordinate system on the confirmed horizontal coordinate system.

A slope detection method comprising:

• calculating, at an arbitrary time t1, an incidence vector L_t1 for an incidence direction of sunlight on the basis of a local coordinate system, from light quantity data of the sunlight measured by each optical sensor;
• acquiring incidence angle information As_t1 and hs_t1 of the sunlight on a horizontal coordinate system by applying the time t1, latitude information, and longitude information to a sun path equation;
• calculating, at a time t2 different from the arbitrary time t1, an incidence vector L_t2 for the incidence direction of the sunlight on the basis of the local coordinate system, from the light quantity data of the sunlight measured by the each optical sensor;
• acquiring incidence angle information As_t2 and hs_t2 of the sunlight on the horizontal coordinate system by applying the time t2, the latitude information, and the longitude information to the sun path equation;
• calculating a horizontal plane (X-Y plane) of the horizontal coordinate system through the obtained incidence vectors L_t1 and L_t2 with different time zones on the local coordinate system, and through the incidence angle information As_t1, hs_t1, As_t2, and hs_t2 of the sunlight based on the horizontal coordinate system;
• confirming the horizontal coordinate system by calculating a true north direction (Y-axis direction) on the horizontal coordinate system from one of the incidence vectors and the corresponding incidence angle information of the sunlight on the horizontal coordinate system;
• and
• calculating three-dimensional slope information of the local coordinate system on the confirmed horizontal coordinate system.