TerraSystem LidarPod

Transcription

1 TerraSystem LidarPod a complete turnkey system New to the market, the TerraSystem UAV LidarPod is a complete turnkey system developed specifically for use on Unmanned Aerial Vehicles (UAVs). Survey industry expertise is behind the TerraSystem UAV LidarPod. We understand the problems you need to solve and have combined intelligent thinking with experience to design a reliable, practical and costeffective solution. As a result the TerraSystem UAV LidarPod is a robustly engineered, self contained system. It is simple to operate and enables rapid deployment in the field. The turnkey solution includes LidarViewer, specially developed software to handle your resulting data. The Routescene UAV and Vehicle LidarPod are identical and can be interchanged and fitted onto any mobile platform you require. Technical details The TerraSystem LidarPod contains all you need to collect precision survey data, visualise the data in real-time and create a very dense and accurate georeferenced point cloud. The internal firmware controls the sensors, parses the raw data and transmits data samples to the ground station, it also manages and monitors power consumption of the LidarPod. Weight: 2.5kg (including GPS antennas and cables) Dimensions [mm]: 320 length x 100 diameter 65 x 120m footprint at 80m altitude Absolute position accuracy of 0.03m at 20m range Absolute position accuracy of 0.06m at 40m range External power Switchable power from UAV to Ground supply Supply Voltage: VDC, 28 watts Operating temperature: -10 to +40 C

2 Velodyne HDL-32e A true 3D mobile Lidar scanner that delivers unsurpassed image resolution. The HDL-32e collects 700,000 3D points per second. 32 laser sensors/ detector pairs Class I eye safe 905 nm wavelength Time of flight distance measurement with intensity 700,000 3D points per second Maximum range: 100m, with range accuracy of < 20mm 10 Hz frame rate (user selectable) Field of View: 360º vertical and 41º horizontal Angular resolution (ver tical): 1.33 Shock: 500 m/sec2 amplitude, 11 msec duration Environmental Protection: IP67 GPS \ INS A state of the art integrated Real-Time Kinematic (RTK) GPS and Inertial Navigation System (INS) that provides accurate position, velocity, acceleration and orientation under the most demanding conditions. The dual antenna moving baseline Real Time Kinetmatic (RTK) GNSS solution ensures that we can achieve the highest accuracy possible for the lowest weight. The GPS\INS sensor combines temperature calibrated accelerometers, gyroscopes, magnetometers and a pressure sensor with a multi channel RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. Triple frequency GNSS receiver that provides up to 1cm accuracy positioning and supports all of the current and future satellite navigation systems, including GPS, GLONASS, GALILEO and BeiDou. It also supports the Omnistar service for hassle free high accuracy positioning. Horizontal Position Accuracy (with RTK): m Vertical Position Accuracy (with RTK): m Roll & Pitch Accuracy: 0.15 Heading Accuracy: 0.07 (with 2m GPS antenna spacing) Hot Start Time: 500 ms Internal Filter Rate: 1000 Hz Acceleration Limit: 11 g MTBF: > 50,000 hrs Shock Limit: 2000 g Output Data rate: upto 100Hz

3 Storage Onboard solid state storage enabling hours of data to be collected. Radio Telemetry GHz telemetry dual channel data link to provide remote control over the LidarPod, transmit RTK GPS corrections to the LidarPod and in turn enable the sample sensor data to be transmitted back to the ground station for Status and Quality Assurance purposes. To ensure that the LidarPod can operate legally within your country, we provide a range of operational frequency options ranging from 900MHz all the way to 6 GHz. The robust digital modulation technology provides for fast and secure, simultaneous communication and data transfer rates at upto 12 Mbps. Standard frequency: GHz Optional frequencies: 900MHz, 2.3, 2.4, 3.3 GHz Throughput: Upto 12Mbps Error Detection: 32 bits of CRC, ARQ Encryption Sensitivity: 12 Mbps 6 Mbps TX Power: 20 dbm 30 dbm (Selectable) Power: 0.1W standard, configurable up to 1W Channel Bandwidth: 4 Mhz standard, 8 MHz available TerraSystem Ground Station For the TerraSystem UAV LidarPod the Ground Station is an essential component of the system, ensuring RTK GPS corrections are transmitted to the LidarPod and Quality Assurance and Status information is returned. The TerraSystem Ground Station provides RTK corrections to the LidarPod to ensure millimetre accuracies can be obtained. The corrections are transmitted via radio telemetry to the LidarPod. The Ground Station will also receive the Status and Quality Assurance data from the LidarPod and this is then displayed using the TerraSystem QC Monitor software. The Ground Station supports both L1 and L2 frequencies and monitors all the GPS, GLONASS, GALILEO and BeiDou saltellites. This delivers the quickest and most reliable RTK initializations for 1 2 centimeter positioning. To ensure that the Routescene Ground Station can operate legally within your country, we provide a range of operational frequency options ranging from 900MHz all the way to 6 GHz. The robust digital modulation technology provides for fast and secure, simultaneous communication and data transfer rates at upto 12 Mbps. The TerraSystem QC Monitor software is supplied with the Ground Station and operates from a Windows laptop using a serial port.

4 Technical details GNSS receiver 220 Channels: GPS: L1 C/A, L2E, L2C GLONASS: L1 and L2 C/A Galileo: E1 QZSS: L1 C/A, L1 SAIF, L2C SBAS: L1 C/A High precision multiple correlator for GNSS pseudorange measurements Unfiltered, unsmoothed pseudorange measurements data for low noise, low multipath error, low time domain correlation and high dynamic response Very low noise GNSS carrier phase measurements with <1 mm precision in a 1 Hz bandwidth Up to 20 Hz raw measurement & position outputs with a <30ms latency Single Baseline RTK (<30 km) m + 1 ppm Horizontal m + 1 ppm Vertical Radio Telemetry Standard frequency: GHz Optional frequencies: 900MHz, 2.3, 2.4, 3.3 GHz Throughput: Upto 12Mbps Error Detection: 32 bits of CRC, ARQ Encryption Sensitivity: 12 Mbps 6 Mbps TX Power: 20 dbm 30 dbm (Selectable) Power: 0.1W standard, configurable up to 1W Channel Bandwidth: 4 Mhz standard, 8 MHz available QC Monitor software 32-bit software Windows 7 or 8 Uses a Serial connection for operation with the Ground Station

5 Routescene Vehicle LidarPod upgrade For your convenience we have developed a Vehicle LidarPod upgrade, which allows the Vehicle LidarPod to operate in urban canyons more effectively and ensure a higher accuracy at other times. For the TerraSystem Vehicle LidarPod a ground station is optional as it depends on the most practical solution through which to receive the RTK GPS correction: locally using the TerraSystem Ground Station, or via GPRS modem or satellite. Then there is always the option to post-process the position data and apply the RTK GPS corrections after the survey has been completed. The TerraSystem Vehicle LidarPod upgrade provides a number of different items to make the LidarPod completely operational for Mobile Mapping surveys. The following is included in the upgrade:

6 Technical details Odometer Vehicle odometer which clamps onto one of the rear wheels of the vehicle. The Odometer supplies upto 4000 pulses per second to enable accurate distance travelled and velocity to be calculated. This information will augment the GPS\INS solution considerably and will reduce the drift in urban canyons. Odometer adaptor plates for 4 and 5 nut wheels Adaptor plate bolts to accept 19mm wheel hexagonal nuts Firmware upgrade to support the Odometer RTK corrections Firmware upgrade to support third party RTK GPS corrections In the event that using the Routescene Ground Station is not feasible, perhaps because of the range at which you are working and obstructions that will block a radio signal, then the firmware upgrade enables RTK corrections to be supplied by a third party service, via GPRS or satellite connection. (receiving hardware nor the subscription to such a service is not included) Vehicle support frame A lightweight and modular support frame that can be easily be shipped. The support frame can be mounted on the roofrack of any vehicle. The support frame is isolated from vehicle vibrations using an advanced method of shock mounts. Total frame length is 2m, supplied in 2 sections. Triangular frame with 22cm sides. QC Monitor software The QC Monitor software enables you to operate the TerraSystem LidarPod directly from inside the vehicle. The dedicated ground power and data cable supplied with the LidarPod can be used to control and monitor the LidarPod. The QC software enables you to monitor the validity and quality of the data being collected by the LidarPod as it provide Quality Assurance parameters to ensure that the survey is going smoothly. 32-bit software Windows 7 or 8 Uses a USB connection for direct operation with the TerraSystem LidarPod, eg during vehicle surveys.

7 Routescene LidarViewer Improved productivity and workflow with lidar scanning software Routescene LidarViewer turn raw data into business information The Routescene LidarPod offers a fantastic richness of raw data. Routescene LidarViewer, our specially developed software, takes this large volume of data and helps you make sense of it, turning it from raw data into valuable and useful business information. With Routescene LidarViewer you can convert, analyse and filter huge volumes of point cloud data to improve productivity and workflow. Our powerful filters enable you to extract relevant data for use in third party software, such as GIS and CAD packages, which are unable to cope with such large data volumes. What are the benefits? Flexibility Flexible and adapable, LidarViewer imports both Routescene LidarPod and native Velodyne Lidar data Enables you to view the data in different ways, as you can view LiDAR scans as relative, egomotion and absolute coordinated point clouds Provides a stepped approach which enables Any errors in the data to be easily identified Filters to be applied in one of three available coordinate systems Provides a flexible exporter, which enables both point cloud, objects and tracks to be exported Create a seamless workflow as LidarViewer can be easily integrated with 3rd party software Manipulate and analyse the raw point cloud data to suit your needs

8 *Improved accuracy Increases accuracy even further, LidarViewer imports external position data as an option, which enables you to post-process the GPS / INS data using third party software such as Waypoint Inertial Explorer Preview the data prior to applying up to 8 offset and orientation calibration parameters Average the very high density point cloud across a particular area to increase the accuracy Allows you to be specific to focus on particular details in a point cloud, you can choose and export selected points and then process these further in other packages *Increased productivity Conversion of raw data into valuable and accessible business information Easy and quick navigation around the point cloud, being able to view the data from different viewpoints Easy to view using colour coding, applying different colours to different attributes e.g. distance or intensity; which enables improved understanding and analysis of the point cloud data *Example A point cloud of a road can be coloured to display the intensity, enabling the different roadmarkings, for instance double yellow lines, to be clearly visible Ability to focus in and concentrate on areas of interest, selecting particular sets of frames to view and process, making data analysis and processing much simpler and more efficient Instant analysis and quick measurements to improve decision-making using our 3D measurement tool Extract pertinent geospatial information which is important to your business and achieve the automation of raw data by writing and applying your own filters Create workflows by joining filters together using filter chains * Improved analysis Visualise successive frames using our Snail trail tool Instantly create a 3D map of the surrounding area, collecting all the frames together into one view using the Gather tool What about support? At Routescene we have a survey and mapping background, having been using ESRI s ArcView product since version 1.0, so we understand how geospatial information is managed, viewed and turned into business information. We understand how LidarViewer will be used and so can provide an expert level of technical support which we realise can contribute to the successful adaptation of the system in your organisation and the outcomes of survey projects.

9 More about the Routescene LidarViewer In essence, the Routescene LidarViewer is a tool to easily manipulate raw data, extract pertinent datasets and transform it into valuable business information. All you need is this one single piece of software to do all this work. Why do I need this? So you can make sense of all the data you collect. The Routescene LidarPod provides superb detail, collecting 700,000 points per second, for example: Using the Routescene UAV LidarPod flying at an altitude of 40m and a speed of 30km/hr, you will get 300 points per square metre. This equates to 840 million points being collected in a 20 minute flight Using the Routescene Vehicle LidarPod driving at 50 km/hr, you will get over 400 points per square metre at a distance of 20m from the LidarPod Third party software, such as GIS, CAD, terrain mapping or 3D animation packages, are not able to cope with such large volumes of data, for example, 4 million points (ie 6 seconds of data capture) displayed in a CAD package would probably cause it to fallover. The Routescene LidarViewer removes this problem for you, taking the large volume of raw data and decimating it in a smart way, so you can import and manipulate easily in GIS and CAD packages, without losing any of the important detail you need. The other smart thing about the Routescene LidarViewer is the range of specific filters which you can apply to the raw data to extract just the data you want. You can even develop your own business and project specific filters too. Technical details 32-bit software Windows 7 and 8 compatible Minimum requirements: 4Gb RAM, 500Gb HD, High end graphics card 2 button mouse, with middle roller wheel Filters can be developed in Delphi or Visual Studio C++