PRESENTATION OF Performances of UAV Air-Scanner prototype In partnership with: ASCO CO Japan and LTS Land Technology & Services Bologna April 22-23-24 2016
ing. Ernesto Ronci
Project Description
The Air-Scanner project for a UAV scanning and photogrammetry prototype comes from a gentlemen agreement between 3 partners:
Siteco informatica – Bologna (laser-scanning and point-clouds feature extraction)
LTS Land technology & Services srl (photogrammetry, airborne surveying)
ASCO CO – Osaka (UAV survey, software development, test and engineering, implementation for river banks survey)
The project
camera
Tetracam/IR
Interchangeable lenses
System design, components and its implementation
Set-up and configuration of the system
Velodyne VLP16
Key Features:
• Dual Returns
• 830 grams
• 16 Channels
• 100m Range
• 300,000 Points per Second
• 360° Horizontal FOV
• ± 15° Vertical FOV
• Low Power Consumption
• Protective Design
• Accuracy: +/- 3 cm (typical)
Applanix AP15 System
Key Features:
• Proven GNSS-Aided Inertial technology from
Trimble Applanix
• Centimeter level mobile positioning accuracy
• Full position and orientation solution for direct
georeferencing of remote sensing systems
• Fully supported for all dynamic environments:
terrestrial, airborne and marine
•
• High-performance GNSS two antenna heading
aiding from single receiver
• Solid-state, purpose-built compact MEMS IMU
featuring Applanix SmartCal™ compensation
technology
Applanix AP15 System
Key Features:
• Internal Logging, 4 GByte (1 - 200 Hz)
• GNSS Component:
220 Channels: (per chipset)
- GPS: Simultaneous L1 C/A, L2C, L2E, L5
- GLONASS: Simultaneous L1 C/A, L2 C/A, L2 P, L3
CDMA10
- BeiDou: B1, B2
- Galileo: Simultaneous L1 BOC, E5A, E5B,
E5AltBOC11
- QZSS: L1 C/A, L1 SAIF, L2C, L5
- SBAS: Simultaneous L1 C/A, L5
- L-Band: OmniSTAR VBS, HP, XP and G2, Trimble
CenterPoint RTX
2 Typical performance. Actual results are dependent upon satellite configuration, atmospheric conditions and
other environmental effects.
4 With GAMS option, 2 m baseline
Applanix AP15 System
Key Features:
• 3 dedicated Firmware versions
• Air
• Land
• Marine
• LAN, SERIAL, PPS output to synchronize any connected
sensor.
• Easy to integrate in any projects.
Optimal Roll and Pitch accuracy to limit the error of the height coordinates
Applanix AP15 System – how roll and pitch
effects the height accuracy
0.00
0.05
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0.25
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0 20 40 60 80 100 120
Me
ters
Flight altitude
Influence of Roll on the point cloud height
Roll RMS = 0.025°
Roll RMS = 0.05°
Roll RMS = 0.1°
Applanix AP15 System – how roll and pitch
effects the height accuracy
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0.05
0.10
0.15
0.20
0.25
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0 20 40 60 80 100 120
Me
ters
Flight altitude
Influence of Roll and pitch error on the point cloud height
R & P RMS = 0.025°
R e P RMS = 0.05°
R e P RMS = 0.1°
Performances Analysis
The results presented in the following slides are related to one of the several
test conducted during the development of the system:
Mission date: 2016-04-08
Number of flights: 2
Total flight time: about 8 minutes
Number of AP15 Missions: 1
Coverage area: about 10 ha
Performances Analysis
Performances Analysis
465214 466538
465482 466538
465000 465200 465400 465600 465800 466000 466200 466400 466600 466800
Seconds of the GPS week
Time to First SBET point
Logging
SBET
About 4 minutes
This time can be reduced if the system is initialized in motion
Performances Analysis – Flight Time
465214 466538
465482 466538
465000 465200 465400 465600 465800 466000 466200 466400 466600 466800
Seconds of the GPS week
Logging
SBET
Flight 1
Flight 2
~ 4 minutes ~ 4 minutes
Performances Analysis – Flight 1
Take off: 465491
Landing: 465815
Total time: about 5 minutes
Time at project altitude: about 4 minutes
-1.0
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1.0
2.0
3.0
4.0
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6.0
7.0
465450 465500 465550 465600 465650 465700 465750 465800 465850
x10
me
ters
Seconds of the GPS week
Altitude
465550; 0.080
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0.05
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0.15
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0.25
0.3
465450 465500 465550 465600 465650 465700 465750 465800 465850
de
g°
Seconds of the GPS week
Attitude RMS During First Flight
Heading RMS
Specification
Roll RMS
Pitch RMS
Performances Analysis – Flight 1
59 seconds
-1
0
1
2
3
4
5
6
7
465450 465500 465550 465600 465650 465700 465750 465800 465850
CEN
TIM
ETER
S
Seconds of the GPS week
Position RMS During First Flight
East RMS
Altitude (x10 m)
Nord RMS
Height RMS
Performances Analysis – Flight 1
Performances Analysis – Flight 2
Take off: 466148
Landing: 466408
Total time: about 4.5 minutes
Time at project altitude: about 4 minutes
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
6.0
466100 466150 466200 466250 466300 466350 466400 466450
x10
me
ters
Seconds of the GPS week
Altitude
Altitude
Performances Analysis – Flight 2
0
0.01
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0.04
0.05
0.06
0.07
0.08
0.09
466100 466150 466200 466250 466300 466350 466400 466450
de
g°
Seconds of the GPS week
Attitude RMS During Second Flight
Heading RMS
Roll RMS
Pitch RMS
Performances Analysis – Flight 2
-1
0
1
2
3
4
5
6
466100 466150 466200 466250 466300 466350 466400 466450
CEN
TIM
ETER
S
Seconds of the GPS week
Position RMS During Second Flight
East RMS
Altitude (x10 m)
Nord RMS
Height RMS
Deliverables
Vegetation Removed
Section Vegetation Removed
Deliverables example
Deliverables example
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