Transcription

1 Die im Vortrag gezeigten Video Clips können unter heruntergeladen werden.

2 Stuttgart, 19. Juni 2007 Mobile Mapping - 3D-Datenerfassung kommt in Fahrt Jens Kremer IGI mbh Kreuztal

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4 IGI mbh Langenauer Str Kreuztal, Germany

5 Guidance and Sensor Management GPS / IMU Systems Integrated Sensor Systems for Special Applications

6 CCNS: Guidance and Sensor Management

7 Mission Planning and Documentation

8 Precise Positioning

9 Precise Positioning

10 Guidance and Sensor Management GPS / IMU Systems Integrated Sensor Systems for Special Applications

11 Laser Runtime Measurement Counter Stop Pulse Receiver Diode Laser Diode Start Pulse D = c t 2 Laser Pulse Distance D Reflection

12 Static Laserscanning

13 Static Laserscanning

14 Static Laserscanning Lutherkirche, Hannover Institut für Kartographie und Geoinformatik Universität Hannover

15 Static Laserscanning

16 Stop and Go Laserscanning

17 Mobile Laserscanning

18 Mobile LiDAR Mapping point cloud

19 dgps differential GPS using phase and doppler measurements: possible accuracy : a few cm (kinematic!) Satellite dependent on: distance from the base station satellite configuration (number and position of the satellites) reception conditions Reference Station no attitude measurement no measurement of fast movements

20 Inertial Navigation high data rates: > 50 Hz attitude measurement as good as you like (... price?! ) dead reckoning system Increasing attitude and position error because of sensor imperfections: Positioning Accuracy [m] Time [min]

21 GPS/IMU Integration Differential GPS Inertial Measurement Unit Position and velocity with good long term stability Fast measurement of all movements Measurement of the attitude Kalman Filter Position Velocity Attitude

22 GPS/IMU Integration Differential GPS Inertial Measurement Unit Kalman Filter Position Velocity Attitude

23 IGI AEROcontrol AEROcontrol computer unit with GPS receiver and IMU

24 GPS Receiver NovAtel OEMV-3 72 channels three frequencies optional OMNISTAR HP optional GLONASS

25 dgps: with Base Station Post Processing - use your own station or - data from permanent stations (CORS):

26 dgps: w/o Base Station Real time differential GPS: StarFire - NavCom SF-2050M FUGRO OmniStar HP PPP - Precise Point Processing: integrated in AEROoffice with GrafNav 7.80

27 IMU - Inertial Measurement Unit Three accelerometers Three gyroscopes Measurement of the motion in all three axes.

28 IMU - Inertial Measurement Unit IMU with fiber-optic gyros

29 Fiber Optic Gyros The Fiber Optic Gyro Principle 1. no Rotation 2. with Rotation LITEF GmbH 2005

30 IMU - Inertial Measurement Unit 500m optical fiber AEROcontrol IMU - IId drift: RW: rate: 0.1 /h 0.02 / SQRT(h) 128 or 256 Hz

31 Multi Sensor Integration Intertial Measurement Unit Differential GPS Speedometer Position and velocity with good long term stability Fast measurement of all movements Measurement of the attitude Uninterrupted velocity with good long term stability Kalman Filter Position Velocity Attitude

32 Speedometer

33 Speedometer g g g

34 Mobile LiDAR Mapping point cloud

35 LiteMapper - Components Display and Control Unit Laserscanner with data recorder IMU CCNS / AEROcontrol LM Control

36 LiteMapper Installation in a Bell 206 Jet Ranger

37 LiteMapper Installation in a Bell 206 Jet Ranger

38 Project Aahlen Test: Vertical Accuracy Flying height above ground: 400m Speed: 20 m/s Point spacing: 0.75m Target: flat concrete surface Accuracy test layout:

39 Project Aahlen Test: Vertical Accuracy Histogramm of Height Differences: Noise inside one line: 1.3 cm Deviation between lines: < 2 cm Red, yellow, green, blue: different flightlines

40 LiteMapper: Application Example

41 380KV Powerline h = 85m / v= 40kn

42 380KV Powerline h = 85m / v= 40kn

43 Flood Risk Management Simulation of Elbe river water levels Project: city of Dresden, Saxony, Germany DSM - Digital Surface Model Ground point spacing: 1 point/m² raster, approx. 4 mio. points total Images kindly provided by Milan Flug GmbH Image Landestalsperrenverwaltung (LTV), Freistaat Sachsen, Germany

44 Flood Risk Management 114 m

45 Flood Risk Management 116 m

46 Flood Risk Management 118 m

47 Flood Risk Management 120 m

48 Project: Ludwigslust Images kindly provided by Milan Flug GmbH DSM (Digital Surface Model) DTM (Digital Terrain Model) Bomb crater close to Ludwigslust, Germany.

49 DigiCAM-H 39 Mpixel CCD back RGB & CIR filters control computer with bit images previews and histograms in real-time

50 DigiCAM: RGB and CIR Image

51 City Center Florence Santa Maria del Fiore 20cm GSD ~ 1100m x 820m

52 Oblique Image City Center Florence ~ 5cm GSD

53 Airborne Lidar: Building Reconstruction

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57 Multiple 2D laser scanners AEROcontrol GPS/IMU system / odometer Multiple video cameras

58 Processing Steps Lidar raw data intensity distance direction (instr. sys.) calibration (angles) geocodet point cloud GNSS IMU Odometer position orientation GNSS base

59 Processing Steps surface models geocodet point cloud point cloud with classification direct distance measurements volume calculation models of el. wires and tubes building- and city models...

60 Typical applications: Highways

61 Typical applications: Coastal Surveys

62 Typical applications: High-load route planning

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64 Typical applications: Overhead Wire Surveys

65 Typical applications: City models

66 Accuracy Test Red House Farm near Newcastle Upon Tyne, UK Untersuchung der Genauigkeit I

67 Accuracy Test about 300 Ground Control Points measured with GPS two days with different GPS conditions multiple paths GPS Base Station: Ordnance Survey, L1/L2, app. 5 km distance

68 Accuracy Test good GPS visibility poor GPS visibility

69 Accuracy Test Run 1: 5-10min. with good GPS visibility before and after driving through the area of poor GPS visibility Run 2: no attention to GPS visibility

70 Accuracy Test estimated accuracy: good GPS visibility < 50mm poor GPS visibility 65-90mm

71 Accuracy Test Comparison between Ground Control and Streetmapper data: processing up to the point cloud as described before classification of ground points with TerraScan* estimation of a surface through the points of several paths height difference between the points and this surface *Terrasolid Ltd, Finnland

72 Accuracy Test Results: 1. Large differences between points on asphalt and grass + up to 10cm height difference for grass surfaces 2. Statistics of the height differences (asphalt points only) av. difference max. difference RMS Run 1 Run mm +1.2 mm +5 / -5 mm +3 / -7 mm 1.9 mm 2.3 mm

73 Untersuchung der Genauigkeit II

74 Untersuchung der Genauigkeit II

75 Untersuchung der Genauigkeit II

76 Untersuchung der Genauigkeit II

77 Untersuchung der Genauigkeit II