Mobile Multi-Sensor Geomatics (M2G) Systems – The New Trend in Mapping and GIS applications
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Transcript of Mobile Multi-Sensor Geomatics (M2G) Systems – The New Trend in Mapping and GIS applications
Mobile Multi-Sensor Geomatics (M2G) Systems – The New Trend in Mapping and GIS applications
Dr. Naser El-Sheimy, PEng, CRCAssociate Professor and Interim Head Mobile Multi-Sensor Research Group
Chair FIG WG C5.3 “Integrated Positioning, Navigation and Mapping Systems” Vice Chair IAG WG Sc4.1 “Mobile Multi-Sensor System”
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Contents
Mobile Multi-Sensor SystemsMotivation for their development
Components of MMS Examples of MMS
LandAirPortable
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Mobile Mapping Systems (MMS) Multi-sensor systems that integrate various
navigation and remote sensors on a common platform
Typical platforms are vans and airplanes
Capitalise on the strengths of the individual technologies to increase efficiency of data collection
Development motivated by demand for rapid and cost effective data acquisition systems and availability of integrated navigation systems (GPS/INS)
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Components of MMSSensors
Vehicles
ApplicationsMapping DTMEnvironmental Monitoring GISMachine Control Accident Investigation
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S-VHS S-VHS CameraCamera
INSINSGPS AntennaGPS Antenna
8 Digital8 DigitalCameraCamerass
Land Based Systems: The VISAT Van
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SVHSSVHSGPS AntennaGPS Antenna
INSINS
8 Cameras8 Cameras
The VISAT Van
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Post-Processing – GPS/INS Processing
The GPS and INS data is processed via Klman Filtering Integration processor to create a Georeferencing File that contains the system position and attitude at a frequency of 50 – 200 Hz.
GPS INS
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Post-Processing – Image Georeferencing
Each individual image is then tagged with a position and attitude based on the capture time. The result is a georeferenced image database.
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00.20.40.60.8
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0 20 40 60 80Check Point Number
Posi
tiona
l Err
or (m
) Northing Easting Height
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0 20 40 60 80Check Point Number
Posi
tiona
l Err
or (
m) Northing Easting Height
INS stand-alone mode GPS/INS mode
Horizontal VerticalSurvey Mode
Max Residual RMS Max Residual RMS
GPS/INS – Ideal Conditions 0.42 m 0.13 m 0.26 m 0.08 m
INS Only – Worst Case Conditions 0.87 m 0.29 m 0.50 m 0.19 m
Accuracy of the VISAT System
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Real Time Forest Fire Fighting (F3)
Real-time reporting of the exact situation of fires Assisting the Forest Fire Information Centers in accurately
assessing the fire Precisely directing water-bombers and fire-fighting crews
WADGPS
Thermal Thermal CameraCamera
WADGPSWADGPS
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F3 - Operational Overview
WADGPS
Water Bombers
Spotter aircraft
Hot spot/Fireis detected at Position ?
FFIS
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F3 – Prototype Hardware Components
INSINS
WA
DG
PS
Thermal Camera
Video CameraAHARS
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S-frame
INS b-frame
GPS antenna
R (t)bm
R Sb
ab
abGPS
S-frame
INS b-frame
GPS antenna
R (t)bm
R Sb
ab
abGPS
t t+1 t+n
F3 - System Concept
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Real-time Detection of Forest Fires and Hotspots
Original Thermal Images Detected Fires and Hotspots
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System TestingTest Area - Bowness Park Picnic Sites, Calgary
Target Hot Spots
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System Testing
Night Flight Test Path
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F3 System AccuracyHorizontal RMS of 8 m
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Backpack GPS/GIS Systems Advantages
Little skill required High absolute accuracy Possible integration
with other sensors, e.g. speech recognition and digital cameras, etc.
Disadvantages Not suitable in urban
centers or forested areas
Point information only
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Mobile Data Acquisition
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Portable MMS - System Overview (1)
Data Acquisition
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3-D coordinates
Anchor 1 Anchor 2Anchor 2
Image 1Image 1 Image 2Image 2
Portable MMS - System Overview (2)
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Attitude Sensor – Leica DMC
3 MEMs Accelerometers 3 Magnetic sensors Angle Accuracies:
Azimuth – 0.5° Roll/Pitch – 0.15°
3 cm 3 cm 1.5 cm Lightweight, low power consumption RS-232 Output
Leica DMC
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System ConfigurationSystem Configuration
Flash signal at time of exposure
GPS Antenna
Roll, pitch and azimuth angles
Logging Computer
Digital Camera
Digital Compass / Inclinometer
Takes digital images and stores them internally
Measures attitude angles
GPS Receiver Measures positions Time-tags attitude angles Marks times of exposures
Records continuous measurements of position and attitude angles Records times of exposures
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System Testing – Target Field
System testing over a “typical” urban environment
Surveyed using total station, GPS, close-range photo-grammetry
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Eastin
g
North
ing
Heig
ht
RMSE (m)
0.07 0.10 0.04
Mean (m)
0.01 -0.08 -0.03
(m) 0.07 0.06 0.03
Mapping Accuracy Absolute
accuracies similar to L1 RTK GPS
Much of the error – particularly in height – is a bias
Relative error is smaller
RMSE (m)
0.14 0.14 0.09
Mean (m)
0.10 0.05 -0.08
(m) 0.10 0.13 0.03
3 Images, 10-12 image point measurements
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Conclusions1. MMS are becoming an emerging trend because of : Market demands for efficient ways of data collection and A technology push due to new imaging and navigation hardware.
2. Multi-sensor systems are characterized by : Tight sensor integration during the measurement process
(synchronization on common platform). A total solution approach (no external control needed). Georeferencing by INS/GPS as the core mathematical technique.
3. Other Important aspects of MMS are : Data fusion with the goal of minimizing the total error budget. Implementation of MMS for real-time applications. Automation of post-mission processing be eliminating operator
interaction. Efficient manipulation of large data sets.