gnss/ins for high accuracy mobile mapping · lidar mobile mapping mm – cm 0.1° challenging !...
TRANSCRIPT
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GNSS/INS for High Accuracy Mobile Mapping
Olaf Gross 11th Terrasolid European User Event 15.02.2012
Kittilä, Finland
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• Founded 1978
• 25 staff – about half in R&D
• More than 380 customers in 60 different countries
• World-wide technical support
IGI office in Kreuztal
IGI mbH
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IGIs Modular Sensor Systems
• Missionplanning • Navigation • GNSS/IMU • Sensor Management
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IGIs Mobile LiDAR Solutions
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point cloud
Georeferencing Workflow
Measure lever arms &
Determine Misalignments
Apply misalignments and lever arms
Is the Result satisfactory?
Scanner data
Navigation data
Pointcloud
yes
Calibration
Office/Lab Calibration
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Missalignment Calibration workflow
• Drive suitable site with buildings: Good visibility to walls
Clean, vertical walls
Right driving pattern
• Search tie lines on building walls automatically
• Solve HRP misalignment angles
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Calibration Mobile
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• Large building with open area (parking lot)
Calibration driving pattern 1
Calibration driving pattern
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Calibration of Train/Tram Data?!
Engineers installing a RailMapper calibration field …
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point cloud
Airborne Lidar & “Mobile Mapping”
Same sensor technologies
• LiDAR, GNSS/INS, different kind of cameras
Similar calibration and orientation strategies Differences:
• Kinematic conditions • GNSS conditions • Distance to the object
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Kinematic Conditions - Standstill
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GNSS conditions: Air vs. Ground
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point cloud
Distance to the Object of interest Airborne LiDAR / Photogrammetry
focal length: 100mm pixel size: 6µm FOV (one pixel) = 0.0034°
LiDAR Mobile Mapping
distance: 5m accuracy: ~1cm angular error = 0.1°
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Resulting Requirements
Application Position Orientation
Airborne LiDAR or Airborne Photogrammetry
cm – dm 0.01° – 0.001°
Airborne Thermography dm 0.1° – 0.01°
LiDAR Mobile Mapping mm – cm 0.1°
Challenging ! Easy !
The IMU is 10 to 1000 times better than needed for Orientation of
LiDAR Mobile Mapping
But: Exceptional good IMU is a must to be able to provide required
Position accuracies!
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IMU
Kalman Filter
Position Velocity Attitude
Differential GNSS
TERRAcontrol – Technology
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GPS vs. GPS & GLONASS
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GPS vs. GPS & GLONASS
GPS only
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GPS vs. GPS & GLONASS
GPS & GLONASS
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GPS vs. GPS & GLONASS
GPS & GLONASS
GPS only
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IMU
Kalman Filter
Position Velocity Attitude
Differential GNSS Odometer
Direct Inertial Aiding
TERRAcontrol – Technology
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Direct Inertial Aiding
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without inertial aiding with inertial aiding
Direct Inertial Aiding
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Direct Inertial Aiding
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Navigation – ZUPT
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Navigation – ZUPT
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TERRAoffice V5.2 compared to V5.3
Trajectory
TERRAoffice 5.2 Trajectory
TERRAoffice 5.3
TERRAcontrol Technologie
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TERRAoffice V5.2 compared to V5.3
Trajectory
TERRAoffice 5.2
Trajectory
TERRAoffice 5.3
TERRAcontrol Technologie IV
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Forward/Backward Processing
GNSS gap
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IMU Performance
GPS only
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IMU Performance
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TERRAcontrol IMU-IIe
• Fiber optic gyros
• MEMS Accelerometers
• Data rate 400Hz
• Gyro Drift 0.03°/h
TERRAcontrol Technologie
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TERRAcontrol with IMU-IIe
• Integrated GNSS receiver with DIA+ (GPS/GLONASS)
• IMUIIe
• Real time navigation
TERRAcontrol Technologie
System accuracy (dGPS):
Position: <0.05m
Velocity: 0.005m/s
Roll/Pitch: 0.003°
Heading: 0.007°
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TERRAcontrol Technology
StreetMapper Control Rack
Thermal camera option for StreetMapper and RailMapper
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point cloud
Georeferencing Workflow
Measure lever arms & Determine
misalignments and
Apply misalignments and lever arms
Is the Result satisfactory?
Scanner data
Navigation data
Pointcloud
Apply global or local adjustments no
yes
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Matching based on intensity or xyz features in LIDAR
Matching based on linear features in images
Terrasolid – Tie Lines
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Typical control points
Geometric Correction
GCP-Marker
e.g. 25cm x 25cm
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Example: Tram System Helsinki
TERRAcontrol Technologie IV
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Example: Tram System Helsinki
TERRAcontrol Technologie IV
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Problem: Strong GNSS shadowing effects due to vegetation and buildings.
TERRAcontrol Technologie IV
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Examples
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Recent project on UK Highway - Results
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Conclusion
• A careful system calibration is a prerequisite for high accuracy Mobile
Mapping.
• Local adjustments are generally much more important for Mobile
Mapping than for airborne LiDAR.
• Combining a high performance GNSS/INS with a state of the art LiDAR
and the current calibration and adjustment techniques allows for cm
accuracies for a wide range of project conditions.