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Status Feb. 2011
IGIs Modular Systems for Mobile Data Aquisition
Olaf GrossIGI mbH
57223 Kreuztal / Germany
IGI mbHLangenauer Str. 4657223 Kreuztal, Germanywww.igi-systems.com
Guidance and Sensor Management
GPS / IMU Systems Integrated Sensor Systems for Special Applications
Guidance and Sensor Management
Guidance and Sensor Management
Guidance and Sensor Management
GPS / IMU Systems Integrated Sensor Systems for Special Applications
SMUs
AEROcontrol SMU with IMU-IIe
IMU-IIe
Weight 2.2 kgData rate 400HzGyro drift 0.03°/h
System accuracy Position: 0.05mVelocity: 0.005m/sRoll/Pitch: 0.003°Heading: 0.007°
Error Budget
Navigation - attitude
Navigation – position
Laser range noise
System calibration
Mobile Lidar Data Acquisition
Static 3D Scanner
Mobile Mapping
“Stop and Go”
Airborne Lidar
Boat, Train ...
Navigation - Attitude
Airborne LiDAR /Photogrammetry
focal length: 100mmpixel size: 6µm
FOV (one pixel) = 0.0034°
LiDAR Mobile Mapping
distance: 5maccuracy: ~1cm
angular error = 0.1°
Navigation - Attitude
Application Position OrientationAirborne LiDAR or Airborne Photogrammetry
cm – dm 0.01° – 0.001°
Airborne Thermography dm 0.1° – 0.01°LiDAR Mobile Mapping cm 0.1°
Airborne Positioning
Fairly uniform satellite visibilityFairly uniform positional accuracy
Mobile Positioning
Satellite visibility variesPositional accuracy varies
Differential GNSS Inertial Measurement Unit (IMU)
Kalman Filter
Position Velocity Attitude
position and velocity with good long term stability
fast measurement of all movements
measurement of the attitude
TERRAcontrol GNSS/INS
Number of Satellites vs. time
Number SV vs. INS Pos. RMS
Mission planning – GPS visibility
TERRAcontrol GNSS/INS DIA
IMU
Differential GNSSOdometer
Direct Inertial Aiding
Kalman Filter
Position Velocity Attitude
Direct Inertial Aiding
without inertial aiding with inertial aiding
Direct Inertial Aiding
Realtime vs. Post Processing
GNSS gap
Loosely Coupled vs.Tightly Coupled
IMU GPS
dataintegration
GPS processing
positionorientation
velocity
Pos.Vel.
GPS BasePrec. Eph.
„loosely coupled“
IMU GPS
dataintegration
positionorientation
velocity
GPS BasePrec. Eph.
„tightly coupled“
+ user interaction possible, robust
− not optimal at SV numbers
+ (theoretically) optimal solution
− „Black Box“
TERRAcontrol – INS system
– Allows good accuracy under poor satellite conditions
– Direct Inertial Aiding (DIA)– Dual frequency GPS Antenna (GLONASS
available)– Optical Odometer– High-grade IMU
• 400Hz• 0.007o RMS Heading• 0.003o RMS Roll & Pitch
– GPS/IMU solution post-processed
Navigation - Attitude
Application Position OrientationAirborne LiDAR or Airborne Photogrammetry
cm – dm 0.01° – 0.001°
Airborne Thermography dm 0.1° – 0.01°LiDAR Mobile Mapping cm 0.1°
Airborne:Good IMU is mandatory for good orientations.
Mobile Mapping:IMU supports GPS with DIA Technology, thus a good IMU is mandatory for good positions
City Model Accuracy Tests
• Undertaken by Institute for Photogrammetry (ifp), Universität Stuttgart, Germany
• Compare to 3D model of City Surveying Office of Stuttgart
• 35 minutes surveying• 18km survey
Navigation Accuracy
• Number of satellites along the route• Estimated horizontal GPS accuracy along
the route
Point Cloud Accuracy
• Compare points with 3D model for each façade• Comparison made in good and bad GPS areas• Overall RMS error 3cm or better from model to
points
Guidance and Sensor Management
GPS / IMU Systems Integrated Sensor Systems for Special Applications
• DigiCAM• DigiTherm• StreetMapper• LiteMapper
IGIs Modular Sensorsystems
• Mission Planning• Navigation• GNSS/IMU• Sensor Management
SMU - Sensor Management Unit
• small - light - low power• high performance• interchangeable• ruggedized design• industry standard connectors• hot-plug SSD storage devices• compatible to previous systems• integration to third party
computer networks
DigiCAM
Up to 60MpDaylight or CIR
Graphical User Interface
Penta-DigiCAM
Penta-DigiCAM
•4 high oblique 39MP DigiCAM 80mm Lens•1 Nadir DigiCAM 39MP 50mm Lens
Penta-DigiCAM
Multi-DigiCAM Oblique
DigiTHERM System
• realtime previews• storing of triggered events + continuos image stream @6Hz
DigiTHERM: Camera, DigiControl SMU and Unser Interface
DigiTHERM
• uncooled microbolometer camera • 640 * 480 pixel (VGA)• pixel pitch 25µm• thermal resolution < 0.05K NETD• spectral range 7.5 to 14µm• "online" temperature calibration (NUC process, "Shutter")
DigiTHERM - Motivation
Multi-DigiTHERM Systems
Dual DigiTHERM
Dual DigiTHERM in T-AS compatible pod
1240 * 480 pixel
Multi-DigiTHERM Systems
Mobile Mapping Systems
• Direct 3D measurement• Long range• High accuracy• Multiple returns (Wave-form)
Two 360 degree scanners
- 300 kHz measurements- 300m range- 10mm accuracy- Multiple return pulses
Sensors: Laser Scanners
High Resolution Laser Data
LiteMapper 6800i
PRR 80kHz 200kHz 300kHz 400kHz
Max Range [m] 3000 2200 1850 1650
Typical Operating Flight Altitude [m] 1600 1100 950 800
Point density@80knt, TOFA [pts/m^2] 0.7 2.5 4.4 7.0
(Reflectivity ρ>20%,Scan Angle 60°, additional Roll +/- 5°)
Pessimistic estimation!One shot one feedback
forestry and agriculture monitoring(vegetation height, canopy structure, biomass ...)
waveform digitization
LiteMapper
LiteMapper
System installation
• Eurocopter EC120• certified sensor pod (FAA) • LiteMapper• DigiCAM•DigiTherm
System installation
• Eurocopter AS350• certified sensor pod (FAA) • LiteMapper• DigiCAM•DigiTherm
Installation SamAh, Korea
4 high oblique Images1 Nadir ImageLaser point cloud
Within ONE flight!
Status Feb. 2011
IGIs Modular Systems for Mobile Data Aquisition
www.igi-systems.com
IGI mbH57223 Kreuztal / Germany
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