dual channel waveform processing airborne lidar … · dual channel waveform processing airborne...

RIEGL RIEGL VQ-1560i VQ-1560i

Dual Channel Waveform Processing Airborne LiDAR Scanning System for High-Point Density and Ultra-Wide Area Mapping

Airborne Laser Scanning

visit our website www.riegl.com

The new ultra-high performance, fully integrated and calibratedDual Channel Airborne Mapping System RIEGL VQ-1560i makes use of RIEGL‘s sophisticated Waveform-LiDAR technologyenabling an excellent multiple-target detection capability andMultiple-Time-Around (MTA) processing. The system is capable ofonline waveform processing as well as full or smart waveform recording,resulting in unsurpassed information content on each single target.

The new VQ-1560i provides a laser pulse repetition rate of up to 2 MHzresulting in more than 1.3 million measurements per second on the ground and operates at an altitude of up to 15,500 ft. That allows operation at varying flight altitudes resulting in a wide range of point densities. Thus, the system is ideally suited for aerial survey of ultra- wide areas as well as of complex urban environments. By the way, faster and more efficient flight planning and safer flights are enabled.

The RIEGL VQ-1560i comes with a unique and innovative forward/backward scan angle. This enables capturing data from multiple angles more effectively and more accurately at a high point density. With its large field of view of 58 degrees and its widely variable scan parameters the system enables highly efficient scan data acquisition.

The system is equipped with a seamlessly integrated high performance IMU/GNSS unit and an optional 100 megapixelRGB camera as well as another camera, e.g. a thermalcamera or a 100 megapixels near-infrared camera. All individualcomponents are integrated into a compact housing, featuring a mounting flange for interfacing typical hatches or gyro-stabilized leveling mounts.

• high laser pulse repetition rate up to 2 MHz

• up to 1.33 million measurements per second on the ground

• offers data acquisition at a wide range of point densities

• two waveform processing LiDAR channels offering excellent multiple target detection capability

• enables Multiple-Time-Around (MTA) processing of up to 20 pulses simultaneously in the air

• offers online waveform processing as well as smart and full waveform recording

• integrated inertial measurement unit and GNSS receiver

• integrated, easily accessible medium format camera

• prepared for integration of a secondary camera

• high-speed fiber data interface to RIEGL data recorder

• housing shape and mounting flange optimized for interfacing with typical hatches and stabilized platforms

• detachable handgrips for facilitated handling

Applications: • Ultra Wide Area / High Altitude Mapping • High Point Density Mapping • Mapping of Complex Urban Environments • Glacier & Snowfield Mapping • City Modeling • Mapping of Lakesides & River Banks • Agriculture & Forestry • Corridor Mapping

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RIEGL VQ-1560i Scan Pattern

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RIEGL VQ-1560i Elements of Function and Operation

aperture of primary camera (RGB)

mounting flange

cooling air outlets

IMU bay

connectors for power supply and data interface

desiccant cartridgescarrying handles

aperture of laser channel #2

aperture of laser channel #1

aperture of secondary camera

Each channel delivers straight parallel scan lines. The scan lines of the two channels are tilted against each other by 28 degrees providing an optimum distribution of the measurements on the ground invariant to changes in terrain height.

28°

58° effective FOV

Tilt Angle of Scan Lines ± 14°

Forward/Backward Scan Angle in Non-Nadir Direction ± 8° at the edge

Copyright RIEGL Laser Measurement Systems GmbH © 2017– All rights reserved.

RIEGL VQ-1560i Main Dimensions

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all dimensions in mm


RIEGL VQ-1560i System Components

4

GNSSantenna

laser safetyswitch

RIEGL DR1560(i)

operator workingstation

gyro-stabilized mount GSM-4000 (optional)

high speed interface

USB 3.0 interface

LAN interface - flight guidance

LAN interface - system control

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pilot displayflight guidance

iX- Controller(optional)

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RIEGL VQ-1560i

A minimum number of system components and external cabling is required for an easy and quick installation in aircrafts.

RIEGL VQ-1560i Installation Examples

RIEGL VQ-1560i installed in the nose pod of fixed-wing aircraft DA42 MPP

RIEGL VQ-1560i installed on GSM-4000 gyro-stabilized platform to be used in a helicopter or fixed-wing aircraft


5

Measurement Range & Point Density RIEGL VQ-1560i

Example: VQ-1560i at 2 x 150,000 pulses/sec, laser power level 100% Results: Point Density ~ 0.51 pts/m² Area Acquisition Rate ~ 1130 km²/hAltitude = 15,000 ft AGL, Speed = 150 kn

PRR = 2x150 kHz, laser power level 100%

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Example: VQ-1560i at 2 x 350,000 pulses/sec, laser power level 100% Results: Point Density ~ 2 pts/m² Area Acquisition Rate ~ 670 km²/hAltitude = 8,500 ft AGL, Speed = 155 kn


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The following conditions are assumed for the Operating Flight Altitude AGL• ambiguity resolved by multiple-time-around (MTA) processing

Assumptions for calculation of the Area Acquisition Rate• 20% overlap of neighboring flight strips. This overlap covers a roll angle of ±5° or a reduction of flight altitude AGL of 20%.• target size ≥ laser footprint

• effective FOV 58°• average ambient brightness• roll angle ±5°

Typical ENOHD• Calculated under assumption of an angular step width of 0.012° and an aircraft speed higher than 10kn.

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Example: VQ-1560i at 2 x 500,000 pulses/sec, laser power level 100% Results: Point Density ~ 4 pts/m² Area Acquisition Rate ~ 470 km²/hAltitude = 5,500 ft AGL, Speed = 170 kn


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Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 100% Results: Point Density ~ 8 pts/m² Area Acquisition Rate ~ 480 km²/hAltitude = 5,600 ft AGL, Speed = 170 kn


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Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 50% Results: Point Density ~ 12.3 pts/m² Area Acquisition Rate ~ 310 km²/hAltitude = 4,100 ft AGL, Speed = 150 kn


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RIEGL VQ-1560i Productivity

Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 6% Results: Point Density ~ 101 pts/m² Area Acquisition Rate ~ 38 km²/hAltitude = 1,000 ft AGL, Speed = 75 kn


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Examples 1)

Average Point Density 2 pts/m2 8 pts/m2 20 pts/m2 60 pts/m2

Flight Altitude 6000 ft 4500 ft 3300 ft 1150 ft 1830 m 1370 m 1000 m 351 m

Ground Speed 315 kn 210 kn 115 kn 110 kn

Swath Width 2040 m 1540 m 1130 m 400 mProductivity 960 km2/h 480 km2/h 192 km2/h 64 km2/hMeasurement Rate 2) 660 000 meas./sec 1.33 mill meas./sec 1.33 mill meas./sec 1.33 mill meas./secCamera GSD 3) 4) 168 mm 126 mm 92 mm 32 mmCamera Trigger Intervall 4) 3.6 sec 4.1 sec 5.4 sec 2.0 sec1) calculated for 20% target reflectivity and 20% stripe overlap2) The target detection rate is equal to the measurement rate for terrains offering only one target per laser pulse but may be much higher for vegetated areas.3) Ground Sampling Distance4) Calculated for a 100 MPixel CMOS camera with a FOV of 56.2° x 43.7° and 60% image overlap in flight direction (endlap).

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Productivity of the VQ-1560i when using both channels and a typical fixed-wing aircraft, e.g. a DA42 MPP.

Very high point densities can be achieved when using the VQ-1560i with a helicopter, e.g. an EC120.

For maximizing the productivity of the VQ-1560i at low point densities an aircraft with a high maximum speed, e.g. up to 315 kn, is necessary.

The RIEGL VQ-1560i Dual Channel Airborne Mapping System offers highest productivity.






9

Technical Data RIEGL VQ-1560iLaser Product Classification

The instrument must be used only in combination with the appropriate laser safety box.

Range Measurement Performance as a function of laser power setting, PRR, and target reflectivity

Minimum Range 8) 100 mAccuracy 9) 10) 20 mmPrecision 10) 11) 20 mmLaser Pulse Repetition Rate up to 2 MHzEffective Measurement Rate up to 1.33 MHz @ 60° scan angleEcho Signal Intensity provided for each echo signal Laser Wavelength near infraredLaser Beam Divergence ≤ 0.18 mrad @ 1/e 12), ≤ 0.25 mrad @ 1/e² 13)

Number of Targets per Pulse with online waveform processing: practically unlimited 14) 15)

monitoring data output: first pulse

Scanner PerformanceScanning Mechanism rotating polygon mirrorScan Pattern parallel scan lines per channel, crossed scan lines between channelsTilt Angle of Scan Lines ± 14° = 28°Forward/ Backward Scan Angle in Non-Nadir Direction ± 8° at the edgesScan Angle Range 60° total per channel, resulting in an effective FOV of 58°Total Scan Rate 40 16) - 600 lines/secAngular Step Width 0.006° ≤ ≤ 0.180° 17) 18)

Angle Measurement Resolution 0.001°

Laser Power Level 100% Laser Pulse Repetition Rate (PRR) 1) 2 x 150 kHz 2 x 250 kHz 2 x 350 kHz 2 x 500 kHz 2 x 700 kHzMax. Measuring Range 2) 3)

natural targets ≥ 20 % 3800 m 3100 m 2700 m 2300 m 2000 m natural targets ≥ 60 % 5800 m 4800 m 4200 m 3600 m 3200 mMax. Operating Flight Altitude 4700 m 3900 m 3400 m 2900 m 2600 mAbove Ground Level (AGL) 2) 4) 15500 ft 12900 ft 11200 ft 9600 ft 8600 ftNOHD 5) 7) 370 m 290 m 240 m 200 m 170 mENOHD 6) 7) 2450 m 1900 m 1600 m 1340 m 1120 m

Laser Power Level 100% 50% 25% 12% 6%Laser Pulse Repetition Rate (PRR) 1) 2 x 1000 kHz 2 x 1000 kHz 2 x 1000 kHz 2 x 1000 kHz 2 x 1000 kHzMax. Measuring Range 2) 3)

natural targets ≥ 20 % 1700 m 1200 m 900 m 630 m 450 m natural targets ≥ 60 % 2700 m 2000 m 1500 m 1050 m 770 mMax. Operating Flight Altitude 2200 m 1600 m 1200 m 860 m 630 mAbove Ground Level (AGL) 2) 4) 7200 ft 5300 ft 4000 ft 2800 ft 2000 ft

NOHD 5) 7) 140 m 95 m 61 m 36 m 21 mENOHD 6) 7) 940 m 650 m 430 m 260 m 145 m1) rounded average PRR 2) Typical values for average conditions and average ambient brightness; in bright sunlight the operational range may be considerably shorter and the operational flight altitude may be considerably lower than under an overcast sky. 3) The maximum range is specified for flat targets with size in excess of the laser beam diameter, perpendicular angle of incidence, and for atmospheric visibility of 40 km. Range amiguities have to be resolved by multiple-time-around processing. 4) Typical values for reflectivity ≥ 60 %, max. effective FOV 58°, additional roll angle ± 5° 5) Nominal Ocular Hazard Distance, based upon MPE according to IEC 60825-1:2014, for single line condition6) Extended Nominal Ocular Hazard Distance, based upon MPE according to IEC 60825-1:2014, for single line condition7) NOHD and ENOHD have been calculated for a typical angular step width of 0.012° (which means non-overlapping laser footprints), and an aircraft speed higher than 10 kn. NOHD and ENOHD increase when using overlapping laser footprints which may be intended e.g. for power line mapping.

Technical Data to be continued at page 10

8) Limitation for range measurement capability, does not consider laser safety issues! The minimum range for valid reflectivity values is 250 m.

9) Accuracy is the degree of conformity of a measured quantity to its actual (true) value.

10) Standard deviation one sigma @ 250 m range under RIEGL test conditions.

11) Precision, also called reproducibility or repeatability, is the degree to which further measurements show the same result.

12) Measured at the 1/e points. 0.18 mrad correspond to an increase of 18 cm of beam diameter per 1000 m distance.

13) Measured at the 1/e2 points. 0.25 mrad correspond to an increase of 25 cm of beam diameter per 1000 m distance.

14) Depending on laser pulse repetition rate, up to a max. of 15 targets per laser pulse.

15) If the laser beam hits, in part, more than one target, the laser’s pulse power is split accordingly. Thus, the achievable range is reduced.

16) The minimum scan rate depends on the selected laser PRR.

17) The minimum angular step width depends on the selected laser PRR.

18) The maximum angular step width is limited by the maximum scan rate.


Class 3B Laser Product according to IEC60825-1:2014 The following clause applies for instruments delivered into the United States: Complies with 21 CFR 1040.10 and 1040.11 except for devia-tions pursuant to Laser Notice No. 50, dated June 24, 2007.

www.riegl.comData Sheet, RIEGL VQ-1560i, 2017-11-27

Technical Data RIEGL VQ-1560i (continued)

Data InterfacesConfiguration TCP/IP Ethernet (10/100/1000 MBit/s)Monitoring Data Output TCP/IP Ethernet (10/100/1000 MBit/s)Digitized Data Output Dual glass fiber data link to RIEGL Data Recorder DR1560(i)Synchronization Serial RS232 interface, TTL input for 1 pps synchronization pulse, accepts different data formats for GNSS-time information

General Technical DataPower Supply / Current Consumption 20 - 32 V DC / typ. 250 W max. 550 W, depending on integrated optional components Main Dimensions (flange diameter x height) Ø 524 mm x 780 mm (without flange mounted carrying handles)Weight approx. 55 kg without any camera but including a typical IMU/GNSS unit approx. 60 kg with optional componentsProtection Class IP54Max. Flight Altitude operating / not operating 18500 ft (5600 m) above MSL1) / 18500 ft (5600 m) above MSL Temperature Range operation / storage 0°C up to +40°C / -10°C up to +50°C

Recommended IMU/GNSS System 2) 3)

IMU Accuracy 4) Roll, Pitch 0.0025° Heading 0.005°IMU Sampling Rate 200 HzPosition Accuracy (typ.) 0.05 m - 0.1 m

Optional Components VQ-1560i

Primary Camera RGB Sensor Resolution up to 100 MPixel CMOS without FMC or up to 80 MPixel CCD with FMCSensor Dimensions (diagonal) 67.2 mm (medium format)Focal Length of Camera Lens 50 mmField of View (FOV) approx. 56.2° x 43.7°Interface USB 3.0Data Storage iX-Controller

Secondary Camera Different camera types including thermal or NIR cameras can be integrated, details on request.

RIEGL Laser Measurement Systems GmbHRiedenburgstraße 483580 Horn, AustriaPhone: +43 2982 4211 | Fax: +43 2982 [email protected]

RIEGL USA Inc.Orlando, Florida | [email protected] | www.rieglusa.com

RIEGL Japan Ltd.Tokyo, Japan | [email protected] | www.riegl-japan.co.jp

RIEGL China Ltd.Beijing, China | [email protected] | www.riegl.cn

Copyright RIEGL Laser Measurement Systems GmbH © 2017– All rights reserved.Use of this data sheet other than for personal purposes requires RIEGL’s written consent.This data sheet is compiled with care. However, errors cannot be fully excluded and alternations might be necessary.

2) The recommended IMU is listed neither in the European Export Control List (i.e. Annex 1 of Council Regulation 428/2009) nor in the Canadian Export Control List. Detailed information on certain cases will be provided on request.

3) The RIEGL VQ-1560i Laser Scanning system supports different IMU/GNSS Systems, details on request.

1) Mean Sea Level

4) One sigma values, no GNSS outages, post-processed with base station data

dual channel waveform processing airborne lidar … · dual channel waveform processing airborne...

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