full waveform digitizing airborne laser scanner for wide ......2015/03/24 · rriegliegl...

RIEGLRIEGL LMS-Q780 LMS-Q780Full Waveform Digitizing Airborne Laser Scanner for Wide Area Mapping

Airborne Laser Scanning

visit our website www.riegl.com

The new RIEGL® LMS-Q780 long-range airborne laser scanner makes use of a powerful laser source, multiple-time-around (MTA) processing, echo digitization and waveform analysis. This combination allows the operation at varying flight alti-tudes and is therefore ideally suited for aerial survey of com-plex terrain.

The RIEGL LMS-Q780 gives access to detailed target parameters by di-gitizing the echo signal online during data acquisition, and subsequent off-line waveform analysis. This method is especially valuable when dealing with difficult tasks, such as canopy height investigation or target classification. Multiple-time-around processing allows the utilization of target echo signals which have been detected out of the unambiguity range between two successive laser pulses. In post-processing the cor-rect allocation of ambiguous echo ranges is accomplished by using RiANALYZE in combination with the associated plugin RiMTA. The operational parameters of the RIEGL LMS-Q780 can be configured to cover a wide field of applications. Comprehensive interface features support smooth integration of the instrument into a complete airborne scanning system.

The instrument makes use of the time-of-flight distance measurement principle of infrared nanosecond pulses. Fast opto-mechanical beam scanning provides absolutely linear, unidirectional and parallel scan lines.The instrument is extremely rugged, therefore ideally suited for theinstallation on aircraft. Also, it is compact and lightweight enough to be installed in small twin- or single-engine planes, helicopters or UAVs. The instrument needs only one power supply and GPS timing signals to pro-vide online monitoring data while logging the precisely time-stamped and digitized echo signal data to the rugged RIEGL Data Recorder.

• up to 266 000 measurements/secon the ground

• operating flight altitude up to 15,500 ft AGL

• multiple time around processing: more than 10 pulses (MTA zone 10)simultaneously in the air

• full waveform analysis for unlimited number of target echoes

• high laser pulse repetition rateup to 400 kHz

• various laser power settings fordifferent fields of application

• high ranging accuracy ≤20 mm

• high scan speed up to 200 lines/sec

• wide scan field of view of 60°

• parallel scan lines

• suited for measuring snowy andicy terrain

• interface for smooth and directGNSS-time synchronization

• seamless integration and compatibility with other RIEGLALS-systems and software packages

visit our websitewww.riegl.com

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Applications:Full Laser Power:

• Wide Area / High Altitude Mapping • Topography & Mining • Glacier & Snowfield Mapping

Reduced Laser Power: • City Modeling • Mapping of Lakesides & River Banks • Agriculture & Forestry • Corridor Mapping

11) Limitation for range measurement capability, does not considerlaser safety!

12) Standard deviation one sigma @ 250 m range under RIEGL testconditions.

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

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

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

16) Practically limited only by the maximum data rate allowed for the RIEGL Data Recorder.

17) Minimum scan speed increasing linearly to 53 lines/sec @ 400 000 Hz PRR @ laser power ≥ 50%

18) Minimum scan speed increasing linearly to 27 lines/sec @ 400 000 Hz PRR @ laser power < 50%

19) Angle between consecutive laser shots, user adjustable

Full Laser Power

Reduced Laser Power

Technical Data RIEGL LMS-Q780

2

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

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 11) 50 mAccuracy 12) 13) 20 mmPrecision 12) 14) 20 mmLaser Pulse Repetition Rate up to 400 kHzEffective Measurement Rate up to 266 kHz @ 60° scan angleLaser Wavelength near infraredLaser Beam Divergence 15) ≤ 0.25 mradNumber of Targets per Pulse digitized waveform processing: unlimited 16)

monitoring data output: first pulse

Scanner PerformanceScanning Mechanism rotating polygon mirrorScan Pattern parallel scan linesScan Angle Range ± 30° = 60° totalScan Speed 14 - 200 lines/sec17) @ laser power level ≥ 50% 10 - 200 lines/sec18) @ laser power level < 50%Angular Step Width 19) ≥ 0.012° @ laser power level ≥ 50% ≥ 0.006° @ laser power level < 50%Angle Measurement Resolution 0.001°Scan Sync Option for synchronizing scan lines to external timing signal

Intensity Measurement For each echo signal, high-resolution 16-bit intensity information is provided which can be used for target discrimination and/or identification/classification.

<400 mW3 ns

1064 nm

Laser Power Level 100% Laser Pulse Repetition Rate (PRR) 100 kHz 200 kHz 300 kHz 400 kHzMax. Measuring Range 1) 3)

natural targets ≥ 20 % 4100 m 3500 m 3000 m 2700 m natural targets ≥ 60 % 5800 m 5100 m 4500 m 4100 mMax. Operating Flight Altitude 4700 m 4200 m 3700 m 3300 mAbove Ground Level (AGL) 2) 3) 15500 ft 13700 ft 12000 ft 11000 ftNOHD 4) 200 m 160 m 125 m 105 m ENOHD 5) 1500 m 1200 m 960 m 820 m

1) The following conditions are assumed: • target is larger than the footprint of the laser beam • average ambient brightness • visibility 40 km • perpendicular angle of incidence • ambiguity resolved by multiple-time-around processing 2) Reflectivity ρ ≥ 60 %, max. scan angle 60°, additional roll angle ± 5° 3) In bright sunlight the operational range may be considerably shorter and the operational flight altitude may be considerably lower than under an overcast sky. 4) Nominal Ocular Hazard Distance, based upon MPE according to IEC60825-1:2007, for single pulse condition 5) Extended Nominal Ocular Hazard Distance, based upon MPE according to IEC60825-1:2007, for single pulse condition

Laser Power Level 50% 25% 12% 6%Laser Pulse Repetition Rate (PRR) 400 kHz 400 kHz 400 kHz 400 kHzMax. Measuring Range 6) 8)

natural targets ≥ 20 % 2100 m 1500 m 1120 m 820 m natural targets ≥ 60 % 3200 m 2400 m 1800 m 1350 mMax. Operating Flight Altitude 2600 m 1950 m 1450 m 1100 mAbove Ground Level (AGL) 7) 8) 8600 ft 6400 ft 4800 ft 3600 ft

NOHD 9) 70 m 68 m 44 m 25 mENOHD 10) 560 m 550 m 360 m 250 m 6) The following conditions are assumed: • target is larger than the footprint of the laser beam • average ambient brightness • visibility 40 km • perpendicular angle of incidence • ambiguity resolved by multiple-time-around processing 7) Reflectivity ρ ≥ 60 %, max. scan angle 60°, additional roll angle ± 5° 8) In bright sunlight the operational range may be considerably shorter and the operational flight altitude may be considerably lower than under an overcast sky. 9) Nominal Ocular Hazard Distance, based upon MPE according to IEC60825-1:2007, viewing a single scan line10) Extended Nominal Ocular Hazard Distance, based upon MPE according to IEC60825-1:2007, viewing a single scan line

Technical Data to be continued at page 7

Fig. 2 Data acquisition and post processing

The upper line of the acquisition diagram shows the analog signals: the first (red) pulse relates to a fraction of the laser transmitter pulse, and the next 3 (blue) pulses correspond to the reflections by the branches of the tree; the last pulse corresponds to the ground reflection.

This analog echo signal is sampled atconstant time intervals (middle line) and is, in the following, analog-to-digital converted, resulting in a digital data stream (bottom line of the acquisition section). This data stream is stored in the RIEGL Data Recorder for subse-quent off-line post processing, where the echo signals can be perfectly reconstructed and analyzed in detail to precisely derive target distance, pulse shape as an indi-cator for target type, and other parameters. Based upon RIEGL‘s long-standing expertise and experience in designing, manufacturing and marketing digitizing laser rangefinders for challenging industrial and surveying applications, and due to the careful design of the analog and digital front-end electronics, the LMS-Q780 records the complete information of the echo signal over a wide dynamic range. Thus, in post-processing the signal can be perfectly reconstructed and analyzed in detail to precisely derive target distance, target type, and other parameters.

Laser PulseE

cho

Sig

nalLaser P

ulseEch

o S

igna

lLaser PulseE

cho

Sig

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1 2 3

Fig. 1 Echo signals resulting from different types of targets

The waveform digitization feature of the RIEGL LMS-Q780 enables the user to extract most comprehensive informa-tion from the echo signals.Figure 1 illustrates a measurementsituation where 3 laser measurements are taken on different types of targets. The red pulses symbolize the laser signals travelling towards the target with the speed of light. When the signal interacts with the diffusely reflecting target surface, a fraction of the trans-mitted signal is reflected towards the laser instrument, indicated by the blue signals.

In situation 1, the laser pulse hits the canopy first and causes three distinct echo pulses. A fraction of the laser pulse also hits the ground giving rise to another echo pulse.In situation 2, the laser beam is reflected from a flat surface at a small angle of incidence yielding an extended echo pulse width. In situation 3, the pulse is simply reflected by a flat surface at perpendicular incidence resulting in one single echo pulse with a shape identical to the transmitted laser pulse.

3

Echo Signals from Different Targets

Echo Digitization RIEGL LMS-Q780

In time-of-flight laser ranging a maximum unambiguous mea-surement range exists which is defined by the measurement repetition rate and the speed of light. When scanning at a pulse repetition rate of, e.g., 400 kHz, measurement ranges above approx. 375 m are ambiguous caused by an effect known as “Multiple-Time-Around” (MTA). In such case target echoes received may not be associated with their preceding laser pulses emitted any longer (MTA-zone 1), but have to be associated with their last but one (MTA-zone 2), or even last but two laser pulses emitted (MTA-zone 3), in order to determine the true measurement range.

Figure 3 gives an impression of ALS data where each single echo of a scan line is associated with each of its last four preceding laser shots emitted. Each single echo is represented by a mea-surement range calculated in MTA zone 1, 2, 3 and 4 respec-tively, but only one of the four realizations represents the true point

cloud model of the scanned earth surface. The chosen example shows scan data correctly allocated in MTA zone 2, where the earth surface appears more or less flat in contrast to the typical spatial characteris-tics of incorrectly calculated ambiguous ranges in MTA zones 1, 3 and 4.

The RIEGL LMS-Q780 is capable of acquiring echo signals which arrive after a delay of more than one pulse repetition interval, thus allowing range measurements beyond the maximum unambiguous measurement range. Unique techniques in high-speed signal processing and a novel modulation scheme applied to the train of emitted laser pulses permit range measu-rements without any perceivable gaps at any distance within the instrument‘s maximum measurement range. The specific modula-tion scheme applied to the train of emitted laser pulses avoids a total loss of data at the transitions between MTA-zones and retains range measurement at approximately half the point density.

The correct resolution of ambiguous echo ranges is accom-plished using RiANALYZE in combination with the associated plugin RiMTA ALS, which does not require any further user interaction,and maintains fast processing speed for mass data production.

Fig. 3 Profile of scan data processed in MTA zones 1 to 4

Fig. 4 Flight altitude above ground level descending from 1,000 m to 240 m within 150 seconds

One scan strip transiting three MTA zones:

yellow: MTA 1blue: MTA 2

purple: MTA 3

MTA 1MTA 2

MTA 3

Multiple-Time-Around Data Acquisition and Processing

4

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Flight Altitude AGL

1230 m1580 m2010 m2570 m3310 m

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Flight Altitude AGL

1130 m1410 m1790 m2250 m2820 m

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ENOHD

Example: LMS-Q780 at 100,000 pulses/sec, laser power level 100% Results: Point Density ~ 0.6 pts/m² Spatial Sampling Frequency ~ 0.53 pts/mCovered Area per Time ~ 320 km²/h

Altitude = 6100ft AGL, Speed = 100 kn



Example: LMS-Q780 at 300,000 pulses/sec, laser power level 100% Results: Point Density ~ 4 pts/m² Spatial Sampling Frequency ~ 1.35 pts/mCovered Area per Time ~ 140 km²/h


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

Assumptions for calculation of the Covered Area per Time• 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

• scan angle 60°• average ambient brightness• roll angle ±5°

Definition of the Spatial Sampling Frequency• The Spatial Sampling Frequency is the reciprocal of the 95th percentile of the distribution function of the maximum distances between neighboring scan points. When considering any individual scan point, the probability to find its most distant neighbor within the reciprocal of the Spatial Sampling Frequency is 95%.

5

Measurement Range & Point Density RIEGL LMS-Q780

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PRR = 400 kHz, laser power level 100% M

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alt

deci

duou

s tre

es

terr

a co

tta

cliff

s, s

and,

mas

onry

whi

te p

last

er w

ork,

lim

esto

ne

MTA 1

MTA 2

MTA 3

MTA 4

MTA 6@ visibility 40 km@ visibility 23 km@ visibility 15 km

MTA 5

ENOHD

400

800

1200

1600

[m] [ft]

Ope

ratin

g Fl

ight

Alti

tude

AG

L

1000

2000

3000

4000

5000

0


Max

. Mea

sure

men

t Ran

ge [m

]

0

600

300

900

1200

1500

1800

0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80

wet

ice

dry

snow

coni

ferio

us tr

ees

dry

asph

alt

deci

duou

s tre

es

terr

a co

tta

cliff

s, s

and,

mas

onry

whi

te p

last

er w

ork,

lim

esto

ne

MTA 1

MTA 2

MTA 3

MTA 4


400

800

1200

[m] [ft]

Ope

ratin

g Fl

ight

Alti

tude

AG

L

1000

2000

3000

4000

0

ENOHD

Poin

t Den

sity

[pts

/m2 ]

Speed [kn]

10

20

30

40

50

60

70

80

030 40 50 60 70 80 90 100 110 120

850 ft1100 ft

1400 ft1800 ft2200 ft


Flight Altitude AGL

300 m390 m490 m630 m770 m

Swath Width

Swath Width

Flig

htAl

titud

e AG

L

60°

FOV

Spat

ial S

ampl

ing

Freq

uenc

y [p

ts/m

]

1.5 150

[km

²/h]

100806050

40

30

25

20

18

16

14

12

11

10

2

2.5

3

3.5

4

4.5

5

6

5.5









7


Technical Data RIEGL LMS-Q780 (continued)

Data InterfacesConfiguration TCP/IP Ethernet (10/100 MBit), RS232 (19.2 kBd)Monitoring Data Output TCP/IP Ethernet (10/100 MBit)Digitized Data Output High speed serial data link to RIEGL Data RecorderSynchronization Serial RS232 interface, TTL input for 1 pps synchronization pulse, accepts different data formats for GNSS-time information

General Technical DataPower Supply / Current Consumption 18 - 32 V DC / approx. 7 A @ 24 VDC Main Dimensions (L x W x H) / Weight 480 x 212 x 279 mm / approx. 20 kgProtection Class IP54Max. Flight Altitude operating / not operating 18500 ft (5600 m) above Mean Sea Level MSL / 18500 ft (5600 m) above MSL Temperature Range -5°C up to +40°C (operation) / -10°C up to +50°C (storage)

Mounting of IMU-Sensor Steel thread inserts on both sides of the laser scanner, rigidly connected to the inner structure of the scanning mechanism

www.riegl.comInformation contained herein is believed to be accurate and reliable. However, no responsibility is assumed by RIEGL for its use. Technical data are subject to change without notice.

Data Sheet, RIEGL LMS-Q780, 2015-03-24

Dimensional Drawings RIEGL LMS-Q780

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

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