SYSTEM FOR ACQUIRING INSIDE SPACE INFORMATION OF UNDERGROUND SPACE AND SHIELDING STRUCTURE

A system for acquiring inner space information of an underground space and a shielding structure is provided to generate a 3D image of a target surface by obtaining spatial information of scanned points using an IMU. A position determining unit(100) includes a GPS(Global Positioning System) receiver and a laser displacement unit. The GPS receiver is formed outside an underground space and a shielding structure, obtains WGS84 coordinates, and sets a reference point on the WGS 84 coordinates. A laser scanner(200) generates an inner shape of the underground space and the shielding structure by using various laser beams. A laser scanner position controller(300) includes an AGV(Auto Guided Vehicle), a 2-axis motor driver, and an AGV driver. The AGV moves the laser scanner into the underground space and the shielding structure. The motor driver finely controls the AGV by using a motor. An IMU(Inertial Measurement Unit)(400) generates a velocity vector using a 3-axis acceleration and an angular velocity based on feedback values of the AGV, compares for displacement information in 3 axes, and compensates for a coordinate variation due to the movement of the AGV. The IMU keeps track of the AGV. A main controller(500) estimates 3-axis displacement values by using the 3-axis acceleration and the angular velocity, generates coordinates for a target point by using the laser scanner, and calculates the WGS84 coordinates of the target point.