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