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Airborne and Mobile LIDARs

for HighPrecision 3-D

Mapping.

Fabrizio Tadina Europe and Russia

GMA Meeting Moscow 14-15 February 2019

http://www.teledyneoptech.com/




WHAT?



WHY?



HOW?

Airborne

Bathymetric

Mobile

Terrestrial

Aerial

Topographic



“From the Depths of the Ocean

to the Surface of Mars” Dr. Allan I. Carswell*

Optech Founder

Credits: University of Arizona, NASA / JPL

(and to the Bennu asteroid!)



OSIRIS-REx Mission (2016 – 2023)

10

http://osiris-rex.lpl.arizona.edu/

http://science.nasa.gov/missions/osiris-rex/

• The spacecraft will travel to a near-Earth

asteroid, Bennu (formerly 1999 RQ36), and

bring ~ 60 gm sample back to Earth for study

• OSIRIS-REx launched on September 8, 2016

from Cape Canaveral. It will start surveying

the asteroid in March 2019 and return in 2023

https://www.asteroidmission.org/



OSIRIS-REx Mission

11

http://osiris-rex.lpl.arizona.edu

OSIRIS-REx Lidar

Altimeter (OLA)




Airborne

Bathymetric

Lidars





Advantages of Airborne Lidar Bathy

Operates in shallow water regions

Extends survey onto land

Rapid response

Shallow water Lidar vs. Multibeam



Initial Laser Pulse

Surface Return

Bottom Return

Airborne Lidar Bathymetry



20 Hz Laser, 20cm Telescope

20Mbytes of hard drive storage

Motorola microwave positioning

system

33 cm Nutating Mirror

with “Egg” Pattern

Litton RLG

position/attitude sensor

1984 – LARSEN 500 Scanning Bathymeter



200 Hz

Laser

20 cm

Telescope

2-Axis Scanner

(28 cm)

PMT

Detector

Laser Path

1985 FLASH 1 Bathymeter



Scanning Hydrographic Operational

Airborne Laser Survey System

200 Hz system, delivered to the

US Army Corps of Engineers

Three wavelengths, four

waveform channels with

integrated RGB camera (2MP)

1994 – SHOALS



Power Distribution

Laser Power Supply

Laser Electronics

Laser Chiller

18” LCD Display

Mirrored RHDs

2003 SHOALS-1000

Sensor



2005 SHOALS -3000

PRF: 3000 Hz



2012 CZMIL

400 m

331 m (CDR)

Coastal Zone Mapping and Imaging Lidar



3 2

4 0 1

5 6

x

x’

y’

x’

y’

3 2

4 0 1

5 6

y

CZMIL Hybrid Lidar Concept

Large circle: eyesafe laser spot

Small circles: Segmented Receiver

FOV

Seg. 1 points in +ve x-direction

Seg. 2 +ve 60° etc.

Line of sight frame



SHOALS Depth

SHOALS K (Diffuse Attenuation Coefficient)

SHOALS Reflectance

CASI Surface Reflectance

Chlorophyll concentration

CDOM (Colored Dissolved Organic Matter)

Backscattering Particles

CASI Seafloor reflectance

Classification

Map

CZMIL HydroFusion Data Products

Software

Products from

Active-Passive

Data Fusion



PRF Trend of Airborne Bathy Lidars

Titan



2014 Teledyne Optech Titan



Titan -The World’s First Multispectral Lidar

532 (Water) 1064 (Vegetation) 1550 (Soil)



1064 nm 1550 nm 532 nm False color infrared (with intensity)

Titan – Data Outputs



Titan – Intensity Images



S28

Titan - High Density LiDAR Elevations

Land & Water




ALTM

Airborne Laser Terrain Mapping





- 100 Hz Laser and Receiver

- Measured statistics of the surface roughness

of arctic ice fields.

LP-01 Laser Profilometer in the DC-3

1977 First Complete Airborne Lidar System

Airborne Laser Ice Profilometer

Environment Canada,

Ice Reconnaissance Branch

- High resolution, absolute positional

information not mandatory.

- Offered Optech a unique opportunity to

obtain extensive operational expertise almost

two decades prior to GPS availability



1989 Vegetation Removal Figure 2. from

“Methods and Results of High Precision Airborne Laser Profiling”, J. Lindenberger, Photogrammetrische Woche 1991

Penetration Rate Coniferous; 35.0%

Deciduous 24.7%

Accuracy, 0.15 m

(photogrammetric & terrestrial check)

Recommendation PRF of 33 Hz should be

Increased to at least 100 Hz



Vegetation Removal - The Black Forest, Germany

DEM before vegetation removal

DEM after vegetation removal

ALTM 1020 Prototype (2 kHz)

Purpose: access forest penetration

1994 Vegetation Removal



Helicopter demonstration in

Japan.

GPS positioning

2 kHz laser, 1000m AGL

Litton Ring-Laser Gyro, LTN-90

System weight 165 lbs

1993 First ALTM (Big Blue)



Powerline Sections, Toronto, Canada

1994 ALTM 1020 (5 kHz)

Some people predicted that the power

lines would be too small to be observed.



ALTM 1020 Components

(Marketing Video 1995)

Data storage medium was 8 mm tape



2004 – ALTM 3100

• 100kHz

measurement rate

• Up to 4 returns per

pulse

• Waveform Digitizer

• Roll compensation



Computer Rack

Pilot Display Operator & Flight Navigation

Interface Laptop

Laser Rate Max Altitude

33 kHz 4,000 m

50 kHz 3,000 m

70 kHz 2,500 m

100 kHz 2,000 m

167 kHz 750 m

2006 – ALTM Gemini



Ultra-Compact Topographic Mapping System

2008 Orion M-200



Galaxy Lidar

2015: PRF of 550 kHz

2017: PRF of 1000 kHz

Discrete data of a forest



Galaxy at 1 MHz

Powerlines

Altitude 1000 meters



Galaxy at 1 MHz

7 PIA

Profile across center of small plane

(~ 2m tall) showing tail detection

Detail from over

1 km altitude



PRF Trend of Airborne Terrain Lidar



Challenges



MultiPulse : Return Pulse Confusion



MultiPulse Principles: Blind Zones

PRF 150 kHz

3 Pulses in the air

when altitude is >

3000 meters



• 500 kHz (effective) • 3 PIA on ground; 5 PIA in air

No PIA data gaps

No PIA data gaps

Earth Not Flat Enough

PIA Blind Zone

PIA Blind Zone

PIA Blind Zone

PIA Blind Zone

PIA Blind Zone



PIA 7

PIA 6

PIA 5

PulseTRAK

• 1500-600 m AGL descending

• 120 knots (fixed wing)

• 400 kHz “on the ground”

• 50° FOV

No density loss across PIA transition zones



SwathTrak




Lynx

Mobile Mapping





PRF Trend of Mobile Mapping Lidars

0

200

400

600

800

1000

1200

1400

1600

1800

2000

2006 2008 2010 2012 2014 2016 2018 2020 2022

Teledyne Optech Lynx Mobile Mapping Systems

PRF kHz Rotation Hz Линейная (PRF kHz) Линейная (Rotation Hz)



PRF & Rotation



» Ensuring high relative accuracy in urban canyons with varying GNSS quality



SPASSIBA!!


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