The methodology for obtaining nonlinear and continuous three-dimensional topographic data using inertial and optical measuring instruments of unmanned ground systems

Topography is the study of an area on earth's surface. This term relates to land's slope or contour, which interval elevation differences between two adjacent and parallel contour lines. generally presents a three-dimensional model object surface relief identification land hilly areas based horizontal coordinates such as latitude longitude, vertical position, namely elevation. The topography essential information that must be provided in execution building road construction ground contour. problem can provide visualization (3D) condition not normal (non-linear). Another traditional measurement techniques with wheel rotation only measure distances cannot represent trajectory 3D. proposed in-depth evaluation orientation estimation results accuracy level. methodology consists several processes; Inertia object, Distance measurement, Terrestrial topocentric – Euclidean transformation, visualization. research designed prototype new method contours reconstruct map three algorithms; Direct Cosine Matrix-3D Coordinate, Madgwick-3D Complementary Filter. was tested evaluated intensively by direct observation at locations different difficulty levels. As result, Coordinate able visualize reconstructing much better than other methods.