presentation of performances of uav air-scanner prototype · presentation of performances of uav...

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

ronci@sitecoinf.it

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

0.10

0.15

0.20

0.25

0.30

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

0.30

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

0.0

1.0

2.0

3.0

4.0

5.0

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

0

0.05

0.1

0.15

0.2

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

0.02

0.03

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