mobile mapping solution · 2020. 5. 1. · leica pegasus:two is a complete mobile mapping solution...

Leica Pegasus:TwoMobile Mapping Solution

Leica Pegasus:Two Complete and easy

Leica Pegasus:TwoBounded only by your imagination – vehicle independent, data economical, multiple sensory platformLeica Pegasus:Two is a complete mobile mapping

solution from hardware to object extraction from

Leica Geosystems. The Leica Pegasus:Two solution

provides an integrated hardware platform including

cameras and lidar profilers with an external trigger

and sync output for additional sensors. Simply

fly-in, collect, then fly-out – no dedicated,

modified vehicles are required – batteries included,

measure the unlimited.

Leica Pegasus:Two Nothing forgotten

Main features n Light sensor for auto brightness and balance

control for image capture

n Full calibrated spherical view through optional

dome camera to enable city modeling

nMarries imagery and point cloud data into a single

calibrated, user-intuitive platform

n External trigger output and external time

stamping for additional sensors

n Scanners and profilers can be added separately,

after purchase, and calibrated by the user

nNo dedicated, modified vehicles are required

n Software enables access to Esri® ArcGIS for

Desktop

nMost advanced GNSS receiver leverages global

constellations

n Capture and edit 3D spatial objects from images

or within the point cloud

n Economical with data - balances data quantity

and quality, with project logistics and

postprocessing

Hardware features n Compatible with a variety of profilers, including

a single high speed 200 Hz profiler and multiple

beam profilers

n Largest sensor to pixel in the market

– 5.5 um x 5.5 um

n Six 4 MB cameras positioned to capture 360° x

270° view – plus optional sky and road cameras

nUser adjustable acquisition intervals based on the

distance travelled

nUser adjustable camera orientation

nNovAtel ProPak6™ provides the latest and most

sophisticated precise GNSS reciver with a robust

field proven IMU for position accuracy of 20 mm

RMS after 10 seconds of outage

n INS determination of the location, speed, velocity

and orientation at a rate of 200 Hz

n Includes triple band – L-Band, SBAS, and QZSS for

GPS, GLONASS, Galileo, and BeiDou constellations

n Portable system fitting into two carrying cases

88 x 68 x 81 cm, 86.5 kg; 65 x 32 x 37 cm, 34.8 kg

n Battery based

nMulti-core industrial PC, 1 TB SSD, USB3 interface

plus USB, ethernet, and wireless connection from

the battery system – enabling reliable in-vehicle

connection

Leica Pegasus:Two is at home on any vehicle

Enabled by a complete software workflow including

data acquisition, calibration, Novatel enabled

post-processing, object extraction, and a GIS-

enabled configurable layered storage – the Leica

Pegasus:Two is your single, easy answer.

A hardware light sensor assures the operator that

all images are useable after post-processing.

Capture to extract – your only tool needed.

The Leica Pegasus:Two solution captures calibrated

imagery and point cloud data together – assuring

that no object is forgotten. Capturing full 360°

spherical view and lidar together means you never

forget an object or return to a project site. Leica

Pegasus:Two provides an optional rear road

camera for pavement analysis providing options to

grow your business – collect once, sell twice.

Leica Pegasus:Two combines the comfort and confidence of visual images with the accuracy of a point cloud at vehicle speed together into a GIS-enabled interface with semi-automatic extraction tools.

Software features n Semi-automatic extraction tools

n Pavement analysis through optional

eighth camera

nUser capable of adding acquisition point objects

in a Shapefile format during data acquisition

n Sequenced images and videos for rapid

navigation and object recognition

n Software pointer “snaps” automatically and

continuously onto the point cloud data from

within an image

n Immediate access to point clouds for an accu-

rate measurement

nOptional 3D stereoscopic view to decrease

errors and increase throughput

n Shadowed or missing 3D points can be acquired

via photogrammetric processes

nData capture module displays the current

location of the vehicle based on a GIS user

interface

nData capture module displays all cameras live,

simultaneously

nData capture module enables laser scanner

management and GNSS operation

n Live status monitoring of system during data

acquisition

Leica Pegasus:Two is at home on any vehicle

Software benefits nDigitize spatial objects through mobile mapping

n A more natural approach for nonprofessional

users while offering technical interface for

advanced users

n Lidar accuracy with image-based usability

n Scalable to your applications including less

accurate simple GIS needs

nObject Recognition – advanced features

including street sign identification and

object blurring

n Point cloud density less critical with image

integration – enabling economical data

collection

nManageable data file sizes of 2 GB per km

n Short data acquisition time

nHigh acquisition throughput

nHigh post-processing throughput

nManageable licence options – compatible with

thin-client viewer

n Esri® ArcGIS for Desktop compatible

n Leverages Esri relational platform for advanced

features

Leica Pegasus:Two – the only mobile platform

Leica Geosystems AG Heerbrugg, Switzerland

www.leica-geosystems.comhttp://di.leica-geosystems.com

Illustrations, descriptions and technical specifications are not binding and may change. Printed in Switzerland – Copyright Leica Geosystems AG, Heerbrugg, Switzerland, 2014. 821033en - 05.14 - galledia

Leica ScanStation P20Industry’s Best Performing Ultra-High Speed Scanner

Leica Viva GS25GNSS Surveying ReceiverPeak Performance

Leica ADS100Airborne Digital SensorAirborne Evolution

Leica ALS70 Airborne Laser ScannersPerformance for diverse Applications


www.leica-geosystems.com

Total Quality Management – our commitment to total customer satisfaction.

Laser class 4 in accordance withIEC 60825-1 resp. EN 60825-1

Illustrations, descriptions and technical data are not binding. All rights reserved. Printed in Switzerland – Copyright Leica Geosystems AG, Heerbrugg, Switzerland, 2011. 785440en – XI.11 – RDV

Cover image Lucerne, Switzerland, June 2009 flown from 1600 m AGL At 100 knots, with a 15-degree FOV, 50 Hz scan rate and 140 kHz (MPiA) pulse rate. Point density ~25 points / m2, average post spacing 20 cm. Fusion of intensity image and classified point cloud.

Whether you want to capture airborne data of an agricultural area

or of a city, record the challenges in a disaster area or the expanse of

a high tension line, you need reliable measurements and solutions for

your entire workflow to build image-based maps. Leica Geosystems’

broad array of airborne sensors and integrated software solutions

capture data efficiently, reference imagery accurately, measure easily,

analyze and present spatial information in 3D.

Those who use Leica Geosystems products every day trust them

for their precision, their seamless integration and their superior

customer support. When data really counts, Leica Geosystems delivers

geospatial imaging solutions with precision, integration and service.

When it has to be right.

Leica ALS70Airborne Laser ScannersPerformance for diverse Applications

Leica ADS80Product brochure

Leica RCD30 Product flyer

Leica FCMS Product brochure

Leica FPESProduct brochure

Leica PAV80Product flyer

Post processing

Post-flight data processing uses Leica IPAS TC for GNSS/

IMU data reduction and the ALS Point Processor for

generation of the point cloud. Leica IPAS TC utilizes

“tightly-coupled” GNSS/IMU data processing to allow full

trajectory accuracy, even when satellites are temporarily

obscured, reducing the need for inefficient and lengthy

low-bank-angle turns from one flight line to the next.

System performance

Leica ALS70-CM and Leica ALS70-HP systems achieve

measurement rates of 500 kHz, reducing on-line flying

time by up to 60%. And with scan rates that allow

well-matched cross-track and along-track spacing.

Leica ALS70-HA offers an extended flying height with

lower scan rates appropriate to wide-area, low-point-

density data acquisition.

Leica ALS70-CM and ALS70-HP provide high accuracy, even in MPiA mode

Leica ALS70-HA carries accuracy to an industry-leading 5’000 m AGL

Summary specifications for a complete family of airborne LIDAR solutions

Model

ALS70-CM ALS70-HP ALS70-HA

Maximum Flying Height (m AGL) 1’600 3’500 5’000

Maximum Measurement Rate (kHz) 500 500 250

Field of view (degrees) 0 – 75 (full angle, user adjustable)

Roll stabilization

(automatic adaptive, degrees)75 – active FOV

Scan patterns (user selectable) sine, triangle, raster

sine

Maximum Scan Rate (Hz) triangle

raster

200

158

120

100

79

60

Numbers of returns

Number of intensity measurements

unlimited

3 (first, second, third)

Accuracy see graph

Storage media removable 500 GB SSD

Storage capacity

(hours @ max measurement rate)6 12

Physical specifications

Model

ALS70-CM

ALS70-HP

ALS70-HA

Size (cm), Weight (kg)

Scanner

Control Electronics

37 W x 68 L x 26 H

43 kg

37 W x 68 L x 27 H

43 kg

45 W x 47 D x 36 H

45 kg

Operating Temperature Scanner

Control Electronics

0 –40°C cabin-side temperature

0 –40°C

Flight Management FCMS

Power Consumption (average, DUS5 IMU) 927 W @ 22.0 – 30.3 VDC

Leica LS70-LP Scanner

n Full multispectral color swath width of 20000 pixels

in RGBN for highest data acquisition efficiency

n Selectable TDI stages for improved sensitivity and

expanded operational envelope

n Improved cycle time to acquire smaller GSDs

at faster speed

n Full color RGBN in forward, nadir and backward for

more flexible stereo interpretation

n Improved Leica PAV100 gyrostabilized mount with

adaptive control for improved image quality

n Embedded Novatel SPAN GNSS/IMU with tightly coupled

processing to reduce fuel consumption

n End-to-end workflow from mission planning with Leica

MissionPro to orthophoto and point cloud generation

with Leica XPro

The new Leica ADS100 Airborne Digital Sensor – Airborne evolution.

For over ten years, the Leica ADS Airborne Digital Sensor has defined airborne imaging. Just like your job requirements, it has evolved over time to continuously innovate in image quality, accuracy, acquisition performance and processing speed.

The Leica ADS100 Airborne Digital SensorAirborne Evolution

The new Leica ADS100 continues to lead the path of airborne evolution. With its number of unique features it

is designed to meet the needs of 21st century airborne imaging with higher acquisition efficiency, more applications

and reduced costs.

In addition, the Leica ADS100 supports a unified aircraft installation. All aircraft components such as Leica PAV100,

Camera Controller CC33 as well as operator and pilot displays can be shared with the Leica RCD30 medium format

and oblique cameras, thus significantly reducing cost of ownership and simplifying operation.

The new Leica ADS100 – Leading airborne evolution.

Leica ScanStation P20Industry’s Best Performing Ultra-High Speed Scanner

Technology

Leica Viva GS25 GNSS Surveying ReceiverPeak Performance

Whether you want to digitize your city for planning, record your road

assets for budgeting, capture a topo view for new construction, or plan

an emergency route, you need a single solution that is easy to use and

flexible. Leica Geosystems’ mobile products are integrated complete

hardware and software solutions to capture data quickly, reference

objects accurately, navigate your data effortlessly and present spatial

information easily.

Those who use Leica Geosystems products every day trust them for

their precision, their seamless integration and their superior customer

support. When data really counts, Leica Geosystems delivers geospatial

imaging solutions with precision, integration and service.

When it has to be right.

Leica Pegasus:TwoMobile Mapping Solution

Capturing assets for budget

planning and maintenance

scheduling, measuring road

quality for budget reporting, and

maintaining outdoor advertising

compliance happens easily with

semi-automatic data extraction

into a standard GIS interface.

Enable quick and precise georeferenced

cartography of railways, non-intrusive

and safe, enables preventive mainte-

nance while reducing surveying time

and balancing staffing requirements.

With the appropriate control points,

design and surveying for road

construction is enabled at vehicle

speeds. Coordinate conversion to

local datums is standard and easy

even with large datasets.

Asset ManagementPavement Assessment Survey & Design Rail Georeferencing

Leica Pegasus:Two Product Specifications

Illustrations, descriptions and technical data are not binding. All rights reserved. Printed in Switzerland – Copyright Leica Geosystems AG, Heerbrugg, Switzerland, 2014. 821034en - 05.14 - galledia

Camera Sensor

Number of cameras 8CCD size 2000 x 2000Pixel size 5.5 x 5.5 micronsMaximum frame rate 8 fps x camera, equal to 256 M pixels x second (collected, compressed, stored)Lens 8.0 mm focal, ruggedised; 2.7 mm focal, topCoverage 360° x 270° excluding rear down facing camera

Scanner

Please refer to scanner manufacturer datasheet.

Control Unit

Multi-core industrial PC, low power consumption, 1 TB SSD hard disk with USB3 interface. USB, Ethernet, and wireless connections available through the battery system. Service support available through remote interface.

Battery System Performance

Typical operating time 9 hrs, profiler version; 13 hrs, scanner versionVAC input voltage 100 min to 240 max VAC autorangingAC input power (charge cycle) 350 W MaxAC input frequency 50/60 HzTime to full charge 11.0 max h starting 0 %DC output 21 – 29 voltsWatt/Amp hours 2685 Watts hours / 104 Amp hours

GNSS/IMU/SPAN Sensor

Includes triple band – L-Band, SBAS, and QZSS for GPS, GLONASS, Galileo, and BeiDouconstellations, single and dual antenna support, wheel sensor input, tactical grade –no ITAR restrictions, low noise FOG IMU.

Frequency 200 HzMTBF 35,000 hourGyro bias in-run stability (±deg/hr) 0.75Gyro bias offset (deg/hr) 0.75Gyro angular rand. walk (deg/√hr) 0.1Gyro scale factor (ppm) 300Gyro range (±deg/s) 450Accelerometer bias (mg) 1Accelerometer scale factor (ppm) 300Accelerometer range (±g) 5Position accuracy after 10 sec of outage duration 0.020 m RMS horizontal, 0.020 m RMS vertical, 0.008 degrees RMS pitch/roll, 0.013 degrees RMS heading.

Optional Accessories

Wheel sensor 1,000 pulses per rotation, IP 67, integrated time stamping of the wheel sensor data (handled by GNSS controller). Processing of the wheel sensor data is integrated with the Kalman filtering based trajectory computational software. A variety of wheel sizes supported.

Rotational platformOptional rotational platform is available to provide an alternative scanner or profiler position while maintaining the camera geometry.

Sensor Platform

Weight 51 kg (without case), 86 kg (with case)Size 60 x 76 x 68 cm, profiler version 60 x 79 x 76 cm, Leica ScanStation P20 Size with case 68 x 68 x 65 cm

Battery

Weight 34.8 kg Size 65 x 32 x 37cm

Environmental

Operating temperature 0° C to + 40° C, non-condensingIP protection level IP52, excluding the scanner. Please refer to scanner documentation.Storage temperature – 20° C to + 50° C, non-condensing

Typical Accuracy*

Hortizontal accuracy 0.020 m RMSVertical accuracy 0.015 m RMSConditions Without control points, open sky conditions

Productivity *

Data produced per project (compressed) 43 GB/h or 1.1 GB/kmData produced after post processing (images and point cloud) 60 GB/h or 1.5 GB/kmPost processing time 1 hr of data collection equals 1 hr post-processing without colourising, 1 hr of data collection equals 5 hrs of post-processing with colourising.

Export Options

Images JPEG and ASCII for photogrammetric parametersPoint cloud Binary LAS 1.2. X,Y,Z, intensity, RGB values. Colourisation by camera pictures. Hexagon Point Format.

Accuracy Test Conditions*

Scanner frequency 1,000,000 points per secondImage distance 3 mDriving speed 40 km/hSystem configuration No wheel sensor, no dual antennaLaser scanner ZF 9012Max baseline length 3.2 km

Repeatability*

Based on open sky, GPS+GLONASS processing, and phase differential. Points were measured manually from within the point cloud. A ring with 26 check points were collected 4 times, for a total of 104 observations. Check points were measured with TPS and levelling.

Resulting mean error for X,Y,Z was -0.004,-0.004,0.001 meters, and the resulting standard deviation for X,Y,Z was 0.011,0.012,0.008 meters.

* If not specified, datasheet is refers to a Leica Pegasus:Two with a ZF9012 profiler and an iMAR FSAS IMU. Datasheet is subject to change without notice.

From left to right: Optional wheel sensor, battery with power cable and rain cover, sensor system.


www.leica-geosystems.comhttp://di.leica-geosystems.com

How we build reality

The fastest way to scan www.zf-laser.com

Z+F PROFILER® 9012Datasheet

4

Z+F PROFILER® 9012

© 2015 Copyright Zoller + Fröhlich GmbH · ZF UK Laser Ltd. · Z+F USA, Inc. · Z+F Italy Srl Reproduction and copies only with written permission from the copyright holders. All rights reserved. Errors and changes reserved.

Dimensions and weight

Dimensions (w x d x h) Weight

320 x 260 x 340 mm13.5 kg

Mounting flanges 7

Flanges on bottom / left / right sides, consisting of:2 x 6 mm holes for orientation pins6 x M6 x 10 mm threaded holes for mounting screws

Lasersystem in Marker Mode

Laser class

• 3R (according to EN60825-1/ANSI Z 136.1), with active marker mode

• 1 (according to EN60825-1/ANSI Z 136.1), without marker mode or with active marker mode at distances >2m (NOHD)*

Wave length 635 nm

Pulse duration 185 µs

Repetition rate 49 Hz

Peak output power < 6 mW

NOHD (Nominal Ocular Hazard Distance) 2 m

All further technical data is similar to the standard Z+F PROFILER® 9012.

* Please contact Z+F for further information

Additional technical specifications of the Z+F PROFILER® 9012M

We also have a Z+F Z+F PROFILER® 9012 MA version available. Please contact [email protected] if you need any further information.

2

The Z+F PROFILER® 9012 is a compact high-speed phase-based laser scanner with great pre-cision, 119 m range and a 360° field of view. With its scan rate of more than 1 million points/sec. and scanning speed up to 200 profiles/sec., very short distances between profiles can be achieved even at high platform speeds.

Z+F PROFILER® 9012

1. Range Noise (1-Sigma interval) is specified at 127 KHz data rate, which is the standard data rate for any Z+F noise specs. However, these specs have to be converted to the appropriate data rate in KHz (1,000 pixel/sec.), see table “settings“. Detailed explanation on request – please contact [email protected]

2. RMS (Root Mean Squared): mean value of squared errors3. The actual data rate in KHz (1,000 pixel/sec.) is stated for each available setting. The Range Noise specs have to be

multiplied by the stated factors, yielding the actual 1-Sigma range noise for a particular setting4. Continuous data recording at max. data rate of 1,016 million pixel/sec., (i.e. 200 Hz spindle speed,

5120 pixel/360° or 100 Hz spindle speed 10,240 pixel/360°)5. Data compression factor depends on scanned scene 6. Data stream is automatically routed to empty memory in case the selected memory stick is full – 2 x 32 GB are available in total7. Technical drawing available upon request

Laser system

Laser class 1 (according to EN60825-1 / ANSI Z136.1)

Beam divergence < 0.5 mrad

Beam diameter Approx. 1.9 mm (at 0.1 m distance)

Ambiguity distance 119 m (above, range reading restarts at zero)

Minimum distance 0.3 m

Range resolution 0.1 mm

Data acquisition rate Max. 1.016 million pixel/sec.

Linearity error ≤ 1 mm

Range drift (full -10° C ... +45° C) < 2 mm (without reference) < 0.3 mm (with ref.)

AccuracyZ+F PROFILER® 9012

Z+F PROFILER® 9012 A

Z+F PROFILER® 9012


Z+F PROFILER® 9012


Target Distance White (80%) 1 Grey (37%) 1 Black (14%) 1

1 Sigma Range Noise, 0.5 m 0.5 mm 0.5 mm 0.8 mm 0.8 mm 1.3 mm 1.3 mm

1 Sigma Range Noise, 1 m 0.5 mm 0.3 mm 0.6 mm 0.4 mm 1.0 mm 0.8 mm






Deflection unit

Deflection system Completely encapsulated, rotating mirror

Vertical field of view 360° un-obstructed

Angular resolution 0.0088°

Angular accuracy 0.02° rms 2

Rotation speed 50 Hz up to 200 Hz (max. 12,000 rpm)

3

© 2015 Copyright Zoller + Fröhlich GmbH · ZF UK Laser Ltd. · Z+F USA, Inc. · Z+F Italy Srl Reproduction and copies only with written permission from the copyright holders. All rights reserved. Errors and changes reserved.

Interfaces

Data storage Internal 128 GB SATA, 2 x external 32 GB USB flash drive

Data interface1 GB Ethernet 2 x USB-2.0 (for removable memory sticks)

Data recording time 4 2h ... 4h for each 32 GB memory 5

4h ... 8h in total for internal 128 GB memory 6

Control panelRemote Controlbox for power on / off, emergency stop and display for status messages

Synchronization interface

• External encoder input for wheel sensor (Odometer)• GPS input (PPS pulse + UTC message over RS232)• Linesync output (TTL pulse per profile)• Rotor sync in / out (angular movement of two parallel devices can be synchronized)

Power supply

Input voltagePROFILER: 22 - 28 V DC (24 V DC typ.) Power supply: 100 – 240 V AC

Power consumption (24V) 7.0A @ 200Hz; 3.7A @ 100Hz; 3.0A @ 50Hz; 10.5A during rotor speed up

Ambient conditions

Operating temperature -10 °C … +45 °C

Storage temperature -20 °C … +50 °C

Lighting conditions All natural conditions

Humidity Non-condensing

Protection class IP 54

Settings

Spindle Speed200 Hz

(12,000 rpm)100 Hz

(6,000 rpm) 50 Hz

(3,000 rpm)

Pixel/360°Data rate /

x noise factor 3

Data rate / x noise factor 3

Data rate / x noise factor 3

20,480 --- --- 1016 KHz / x 2.8

10,240 --- 1016 KHz / x 2.8 508 KHz / x 2.0

5,120 1016 KHz / x 2.8 508 KHz / x 2.0 254 KHz / x 1.4

mobile mapping solution · 2020. 5. 1. · leica pegasus:two is a complete mobile mapping solution...

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