Helicopter Mapping System Captures High Definition Sensor Data

Engineering | Architecture | Design-Build | Surveying | GeoSpatial Solutions
Sensor Integration and
Data Fusion from a High
Definition Helicopter
Mapping System
June 3, 2011
Matt Bethel

Copyright © 2011 Merrick & Company All rights reserved.
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 Corporate headquarters: Aurora, Colorado
 Founded in 1955; employee-owned
 $115M annual revenue (FY11)
 500 employees at 9 national / 3 international offices
 Market Focus
 Energy
 Security
 Life Sciences
 Infrastructure
 Business Units
 GeoSpatial Solutions Civil Engineering Solutions
 Military / Gov’t Facilities Fuels & Energy
 Science & Technology Nuclear Services & Technology
Corporate Overview

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Locations in North America
Los Alamos, NM
Albuquerque, NM
Atlanta, GA
Colorado Springs, CO
Guadalajara, Mexico (MAPA)
Ottawa, Canada
Aurora, CO
Headquarters
Oak Ridge, TN
Mexico City, Mexico (MAPA)
San Antonio, TX
Duluth, GA
Charlotte, NC

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Agenda
Flight efficiencies
Sensor payload
LiDAR test results
LiDAR data examples

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 Energy
 Transmission
 Corridors
 New constructs
 Route maintenance
 Patrol surveys
 Property encroachment
 System inefficiencies (leaks)
 Vegetation management
 Upgrades
 Power plants
 Substations
 Wind Farms
 Oil and natural gas pipeline
 System management
 Population density rating
 Petroleum exploration
 Geology
 Site access
 Transportation
 Roads and highways
 Supplement to mobile LiDAR
 Bridges
 Rail
 Port
 Smaller, high density “area” projects
 Environmental
 Natural resources
 Hydrological
 Streams / rivers
 Shoreline / coastline
 Earthen
 Levees
 Dams
 Landslide / rock fall mitigation
 Forestry sciences and management
 Mining
 Administrative boundaries
 Land development
 Defense intelligence
 Military base mapping
 Missile field mapping
 R&D testing
 Obstruction clearance modeling
 Airports
 Cell towers
 Transport access clearance
 3D city modeling
 Change detection
 Emergency response / disaster recovery
 Fault zone mapping
High Definition Helicopter Mapping Markets

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Flight Efficiencies

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 Fixed wing aircrafts are limited to 1,000 feet above
any feature (ground, tree, building, tower, etc.)
 Helicopters can easily get clearance to fly much
lower for special purposes like mapping
 Lower AGLs allow for collection of more detailed
data (discussed later)
 Helicopters can often fly underneath clouds to
collect project data when fixed wing aircrafts might
be remotely sensed limited by clouds below the
aircraft
Above Ground Level (AGL)

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 Helicopters allow for collection
of more LiDAR points with less
flying – this is measured by:
 Ground Sample Distance (GSD)
 Points Per Square Unit (PPSM or
PPSF)
LiDAR Point Density
 Helicopter LiDAR point
density = unlimited
 Fixed wing aircraft LiDAR
point density = can require
multiple passes to obtain
the specified point density

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 Fixed wing aircrafts
 Have stall speeds, which
vary by:
 Weight
 Air pressure
 Temperature
 Aircraft
 Often need to fly an area
or corridor multiple
times to achieve the
required data density
 Helicopter
 Merrick’s Eurocopter
AStar 350 can operate
from 0-130 knots
 Ability to fly a specific
speed for the required
data density in a single
pass
Groundspeed
0%
10%
20%
30%
40%
50%
60%
70%
80%
90%
100%
0 20 40 60 80 100 120 140 160 180 200 220 240 260
Potential
Lift
(%)
Indicated Airspeed (mph)
Stall Speed Chart for Cessna 402C
Listed stall speed = 82 mph
Minimum pilot safety
speed = 103 mph

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 Helicopters have the ability to fly in terrain following mode
 Helicopters do not need to fly multiple passes
Flight Benefits
•Fixed wing aircraft single pass LiDAR point density = 1.5 ppsm
•Required point density = 6 ppsm
•Number of multidirectional passes required = 4
•Helicopter single pass LiDAR point density = 6 ppsm
•Required point density = 6 ppsm
•Number of passes required = 1

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 Shorter stays on project site
 Allows for more projects to be collected in a given timeframe
 Avoid common scenario of small amount left to fly but weather grounds
the aircrafts for many days if not weeks
 Less on site costs “Only one hour left to fly and…”
 Per diems
 Hotel fees
 Salaries
 Office processing time to check multiple lifts
Flight Time Savings
 Less time to altitude
 Less time to target since the
helicopter can refuel in the field
with a fuel truck
 Less turns / smaller turns

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Less Turns / Smaller Turns
 Theoretical flight path of helicopter mapping system
 Estimated flight time for helicopter = 20 minutes
 This equates to a 9X savings in flight time
 Flight time breakdown:
 Over target = 0.2 hrs / 61%
 Flight line turns = 0.1 hrs / 30%
 Takeoff and landing = 0.03 hrs / 9%
 Total = 0.34 hrs
 Actual Merrick powerline project flown with our Cessna 402C fixed
wing aircraft
 The 24 mile long corridor was flown twice for data density – 0.5
m GSD
 Turn radiuses = 4-7 miles
 Length of turn track = 9-20 miles
 Turn times = 4 – 8 minutes per turn
 Flight time breakdown:
 Over target = 0.5 hrs / 15%
 Flight line turns = 1.8 hrs / 59%
 Taxiing, takeoff, ascending, descending, landing = 0.8 hrs / 26%
 Total = 3.1 hrs

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Square Miles
Fixed Wing @ 100 kts
Flight Hours
Helicopter @ 62 kts
Flight Hours
Flight Hours Delta Flight Hours Savings
10 3 2 1 33%
100 24 10 14 58%
500 67 44 23 34%
1000 133 88 45 34%
Flight Plan Examples
Flat Area, High Point Density (10 PPSM), Varying Sized, Flight Plan Comparisons
Square Miles
Points per Square
Meter
Flight Hours
Helicopter @ 62 kts
Flight Hours
226.6 6 125 14 111 89%*
17.77 3.5 12 2 10 83%
518.3 1 141 53 88 62%
2057.5 4 157 91 66 42%
484.75 12 208 68 140 67%
Miscellaneous Wide Area Project Flight Plan Comparisons
Linear Miles
Points per Square
Meter
Flight Hours
Helicopter @ 62 kts
Flight Hours
54.5 9 9 2 7 78%
265.14 0.4 15 8 7 47%
Miscellaneous Corridor Project Flight Plan Comparisons
* Large amount of terrain (range of elevation) – huge efficiencies gained from terrain following mode

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 With a helicopter’s ability to fly low and slow, it
can collect features that are nearly impossible to
collect with a fixed wing aircraft
 Less surveyors required for ground data
collection
 More data consistency
 More data completeness
 Most if not all of data is collected at the same time
 Better record of project conditions
 No time variations that can cause problems
 Vegetation growth
 Erosion
 Construction / Destruction
 Water levels
 Less schedule delays due to weather or ground cover
issues
Smaller Features Collected

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Sample Project’s Feature Collection Specification Sheet
Feature
Can be
Collected by
Fixed Wing
Can be
Collected by
Helicopter
Feature
Can be
Collected by
Fixed Wing
Can be
Collected by
Helicopter
Feature
Can be
Collected by
Fixed Wing
Can be
Collected by
Helicopter
Signs Tree-At Top Ug Gas
Pavement quality Shrub-At Top Ug Water
Signals Ground (Spot Elevation) Ug Sewer
Switches Grade Break (Ground Elevation String) Buried Cable Marker
Static line Top Of Slope Buried Gas Marker
Railroad ties and ballasts Toe Of Slope Gas Valve
Miscellaneous Pole - At Ground C/L Earth Ditch H2O Valve
Guypole - At Ground C/L Concrete Ditch Gas Meter
Guywire Anchor - At Ground Edge Earth Ditch H2O Meter
Telephone Pole - At Ground Edge Concrete Ditch Fire Hydrant
Light Pole - At Ground Change in Land Use Above Ground Gas
Structure-At Ground Pipe Invert Curbstop/Shutoff
R.R.Communication-At Ground Pipe Top Ss Manhole
Microwave Tower-At Ground Box Culvert Invert Elect. Manhole
Centerline Structure-At Ground Box Culvert Top Sd Manhole
Build-At Ground Edge of Water Tele Manhole
Tree-At Ground Edge Of Canal Phone Pedestal
Shrub-At Ground C/L Dry Watercourse (Natural) Electrical Pedestal
Treeline-At Ground Corner Concrete Pad Electrical Transformer
Shrubline-At Ground Corner Operating Platform Electrical Pullbox
Geologic Logs of Exploration Edge Of Concrete Cable Trench Concrete Pullbox
Miscellaneous Pole - At Attachment Point Edge Round Conc. Pad Catch Basin
GuyPole - At Attachment Point Bridge Cor. Sprinkler Head
Guywire - At Attachment Point Steps/Stairs Center, Center Pivot Sprinkler
Telephone Pole - At Attachment Point Mailbox Crossing Point, Center Pivot Sprinkler
Light Pole - At Attachment Point Sign Well Head
Structure-At Attachment Point Post/Bollard Centerline/Crown
R.R.Communication-At Attachment Point Landscaped Area Roadedge
Microwave Antenna-At Attachment Point Foundation Geometric Feature
Conductor-At Attachment Point Cattle Guard Centerline/Crown
Build-Attachment Point Bottom Of Concrete Retaining Wall (At Ground) Edge of Trail
Distribution Crossing Wire Top Of Concrete Retaining Wall (At Grade) Railroad C/L
Overhead Ground/Shield/Neutral Wire Top Of Concrete Retaining Wall (Above Grade) Railroad @ Point Of Curve - Point Of Tangency
Wire At Crossing -Wapa Line Gate Railroad Top of Rail
Wire At Crossing -Other Line X' Height Chainlink Fence Edge Sidewalk
Sag Points X' Height Chain Link Fence W/3 Strand Barbed Wire Top Back Curb
Miscellaneous Pole - At Top of Structure Post W/"X" Strands Barbed Wire Flowline Curb
GuyPole - At Top of Structure Post W/"X" Strand Barbed Wire & Fabric Bridge Edge
Guywire - At Top of Structure Right of Way Fence Centerline Bridge
Telephone Pole - At Top of Structure Miscellaneous Fence Bridge/Abutment
Light Pole - At Top of Structure Spoil Pile Road Intersection
Structure-At Top Of Structure Silo Fence / Road Crossing
Rail Road Communications.- At Top Miscellaneous Features Pavement (Spot Elevation)
Microwave Tower - At Top Cultural Site Pavement (Elevation String)
Centerline Structure - At Top Of Structure Ug Electrical Guardrail
Build-At Top Ug Communications Lane Markings
= Can be collected = Possibly be collected = Cannot be collected

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Sensor Payload

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Sensor Payload
 LiDAR
 Optech Orion C200
 Nadir RGB – 60 MP
 Nadir CIR
 Optech T-MS
 Oblique RGB
 Optech T-4800
 Gyro-stabilized gimbaled video
camera
 Meteorological sensor
 Real-time GPS tracking system

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Why Choose the Optech Orion C200 LiDAR?

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LiDAR
Optech Orion C200
Key points for choosing the Orion:
 Highest effective maximum pulse rate = 200 kHz
 Best elevation accuracy on the market (much better than
manufacturer specifications of < 5-10 cm; 1σ)
 Best minimum pulse separation on the market (without
waveform) = 0.7 m
 Customizable field of view
 Best detection of small, detailed features like wires, fences,
poles, etc.
 No accuracy degradation from high to low reflective targets or
large to small features (like ground versus wires)
 Continuous scan pattern so as to not miss line (wire) crossings
 Little to no boresighting needed (Optech LMS software)
 Low operational above ground level (AGL) ≥ 50 m
 Low eye safety (AGL) ≥ 7 m
 Smallest (1 ft3) and lightest weight (59 lbs) system on the
market

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Optech Orion C200 Vendor Specifications
*
*
* We upgraded this to the M200 spec for better horizontal accuracy for all sensors and less LiDAR boresighting

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Optech Orion C200 LiDAR Densities

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Horizontal Accuracy – POS AV 510 IMU
0.00
0.02
0.04
0.06
0.08
0.10
0.12
0.14
0.16
0.18
0.20
0 100 200 300 400 500 600 700 800 900 1000 1100
Horizontal
Accuracy
(m)
AGL (m)

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Vertical Accuracy – Optech Test Results

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Vertical Accuracy – Merrick Test Results
0.0330
0.0315
0.0257
0.0281
0.0257
0.0193
0.0206
0.0155
0.0125
0.0109
0.0086
0.0040
0.000
0.005
0.010
0.015
0.020
0.025
0.030
0.035
0.040
0 200 400 600 800 1000 1200 1400
RMSEz
(m)
AGLs (m)
This calibration data was flown with full field of view (50) over a runway
taxi consisting of 394 highly accurate, GPS surveyed control points.

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Optech Orion C200 LiDAR Example

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RGB Orthophoto Nadir Digital Camera
Trimble TAC 60 MP
 Medium format digital ortho camera
(nadir mounting)
 60 megapixel RGB CCD
(8,924 X 6,732 pixels)
 Multiple lens options (see lens
options at right) – we have purchased
the 47 mm and the 72 mm lenses
 Electronic iris shutter integrated into
the lens – fast and reliable
 1/1,000 maximum shutter speed is
equal to or better than a 1/4,000 focal
plane shutter
 Maximum frame rate is 2.5 seconds
 “Hot swappable” lenses do not
require a recalibration
 Includes a light meter which
automatically adjusts the aperture
for varying light and ground cover
conditions
 Purposely designed and built for
digital aerial photography

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TAC 60 MP Resolutions (meters)

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TAC 60 MP Resolutions (meters) – Low AGL

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Trimble TAC 60 MP RGB Orthophoto Example (2 cm res.)

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Color Infrared Nadir Camera
 CIR camera is required for vegetation
classification needs:
 Species delineation
 Vegetation health assessment
 Wetland studies
 Coastal management
 CIR imagery can greatly assist with
automated feature classification of
LiDAR data
 Buildings
 Vegetation
 Water bodies
 CIR imagery is heavily used for
impervious surface classification

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 Color separating prism with three CCD imaging
sensors
 1920(H) x 1080(V) resolution (x3) for 6.2 Million
pixels of data
 Image 3 spectral bands from 500-900 nm
 Standard 3-Band CIR (Full Radiometric &
Spectral Resolution across all bands.)
 Green (550nm/~40nm) Independent Mono CCD
 Red (670nm/~40nm) Independent Mono CCD
 Near IR (800nm/~60nm) Independent Mono CCD
 Maximum frame rate is 4 frames per second
 GPS/IMU information is associated with each TIF
image
CIR Camera Selection – Optech T-MS

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Sample Optech T-MS CIR Image

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Oblique Cameras
 Oblique cameras provide the user the
ability to see non-nadir features like signs,
fences, walls, etc. This can be very crucial
for a right of way corridor to support the
condition assessment and identification of
the required features to be inventoried.
 Where LiDAR and
high resolution nadir
cameras can show
the location of a
feature, often times
oblique cameras
can provide the
attribute of that
feature.
 Oblique cameras
can usually provide
visibility under a
features like
bridges, trees, or
other elevated
surfaces/objects.

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Oblique Camera Selection – Optech T-4800
 16 megapixel RGB CCD (4,872 X 3,248
pixels)
 Forward and aft oblique (2) at 60 degrees
off nadir
 Maximum frame rate is 2 frames per second
(per camera)
 GPS/IMU information is associated with
each image
 Data can be processed to TIF (8-bit or 16-
bit) or JPEG

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Sample Optech T-4800 Oblique Image

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System Rack and Computer Interfaces

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Sensor Pod Contents – CAD Drawings

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Sensor Pod Contents - Photos

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Optech Experience
 Design
 Several design discussions and technical review sessions
 Custom plate and adapters design, engineering, and fabrication
 Integration
 On site installation and system integration
 Custom code modifications
 Flight testing and data review support
 Full training covered during integration
 Support
 Technical support for software and hardware
 Sensor calibration and maintenance fully supported
 Unprecedented remote support by system engineer (remote desktop login for
code modification)
 Modifications
 Provided engineering solutions for performance and data capacity upgrades

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Gyro-Stabilized, Gimbaled Video Camera
 GPS geotagged video
 Stabilized 32X optical zoom
 Automatically tracks shapefile polylines

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Helicopter Airborne Sensors Usage Chart
Industry Feature Able To Detect With
Sensor Type LiDAR RGB Digital Camera
CIR Digital
Camera
RGB Video Camera
Thermal
Camera
LW Thermal
Video Camera
UV Corona
Video Camera
Look Angle Nadir Nadir Oblique Nadir Nadir Oblique Nadir Oblique Oblique
Electric
Transmission
Powerlines X X X X X X X
Towers X X X X X X X X
Transformers X X X X X X X
Attachment Points X X X X X
Shield Wires X X X X X
Insulators X X X X X X X
Suspension or Tangent Towers X X X X X X X X
Guy Wires X X X X X
Crossing Wires X X X X X
Switches X X X X X
Foundations X X X X X
Vegetation X X X X X X
Buildings X X X X X X X X
Tower Identification Features X X
Corona Discharge X
Fences X X X X X
Substations X X X X X X X X
Transportation
Roadway X X X X X X X X
Signs X X
Lane Markings X X X X X
Bridges X X X X X X X X
Railings X X X X X X
Pavement Quality X X X
Vegetation X X X X X X
Railroad
Tracks X X X X X X
Ties X X X X X
Bridges X X X X X X
Signals X X
Right of Way X X X X X X
Ballast X X X X X X
Overhead Lines X X X X X
Switches X X X X X
Third Rail X X X X X X
Pipeline
Scar / Right Of Way X X X X X X
Initial Injection Station X X X X X X
Compressor / Pump Stations X X X X X X
Partial Delivery Station X X X X X X
Block Valve Station X X X X X X
Final Delivery Station X X X X X X

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Airborne Meteorological Sensor
• Temperature (Celsius)
• Relative Humidity (% RH)
• Barometric Pressure (Pascals)
• u Wind Vector Component in earth-fixed reference frame (m/s - +’ve
North)
• v Wind Vector Component in earth-fixed reference frame (m/s - +’ve East)
• True Air Speed (TAS) (m/s)
• w (vertical) Wind Vector Component in earth-fixed frame (m/s)
• Wind Status Flag (0 – Not Valid, 1 – Valid)

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Real-time GPS Tracking System

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Optech Orion C200 Test Results

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Low AGL flying coupled with a LiDAR system design to collect
features with a wide range of signal to noise ratio (SNR) yields
complete feature collection. The total solution is able to collect:
All powerline features, line crossings, fences, guardrails, building edges, any small, thin object, etc.
Data Differences – Prevent Low SNR LiDAR Misses
Flown 5 times with a fixed wing LiDAR system,
pulsing as high as possible and flying as low
and slow as possible
Flown 1 time with a helicopter LiDAR system

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Minimum Pulse Separation – Vegetation Penetration
LiDAR cross section (top view: points colored by return, bottom view:
elevation TIN)
Optech Orion LiDAR cross section (top view: points colored by return, bottom
view: elevation TIN)
LiDAR cross section (top view: points colored by return, bottom view: elevation
TIN)
Optech Orion LiDAR cross section (top view: points colored by return, bottom view:
elevation TIN)

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Minimum Pulse Separation – Feature Definition
LiDAR colored by returns (no 2nd returns due to large minimum pulse separation)
Optech Orion – colored by returns (2nd returns widely present due to 0.7 m minimum
pulse separation)
LiDAR colored by return, lack of vegetation penetration to the ground
Optech Orion – colored by return, good vegetation penetration to the ground

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LiDAR colored by return with control (white); note the lack of penetration near control
Optech Orion – colored by return with control (white); note canopy penetration and
multiple returns
Minimum Pulse Separation – Accuracy
LiDAR colored by return
Optech Orion – colored by return

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Minimum Pulse Separation – Structure and Fence Detection
First return of many returns (all multiple returns turned off) colored by elevation
Optech Orion – First return of many returns (all multiple returns turned off) colored by
elevation
Optech Orion – First return of many returns (all multiple returns turned off) colored
by elevation

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LiDAR Dropouts
LiDAR dropouts on the coal pile (left half of screenshot)
Optech Orion – no LiDAR dropouts on the coal pile (left half of screenshot)
LiDAR dropouts were found on this line presumably due to newly paved asphalt
Optech Orion – no dropouts (missing points on the right side is water)

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Intensity / Range Issues
LiDAR TINed and colored by elevation; note the 1’ rise in elevation on
reflective paint stripes
Optech Orion – TINed and colored by elevation; note the smooth surface over
the paint stripes
LiDAR TINed and colored by elevation; note the rise in elevation on the crosswalk paint stripes
Optech Orion – TINed and colored by elevation; note the smooth surface over the paint stripes and the
definition of power/traffic lines

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Laser Shot Noise
LiDAR data (blue) has a shot noise of 0.10’ on medium reflective surfaces and 0.15’ on dark reflective surfaces.
Optech data (red) has a shot noise of 0.05’ on medium reflective surfaces and 0.075’ on dark reflective surfaces.
LiDAR profile shows paint stripe rising and noisy data, Optech’s profile is flat and smooth.
LiDAR data profiles colored by flight line with control points along the runway
Optech data profiles colored by flight line with control points along the runway

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Powerline Detection (main, static, and crossing)
Points on lines are present but sporadic and static lines are not present
Optech Orion – Points on lines are dense and static line is also present on all lines;
small tower present
Optech Orion – First return of many returns (all multiple returns turned off) colored by elevation

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Wire Detection Test Site - Diagram
Existing homeowner’s
power distribution lines

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Wire Detection Test Site – Air Photo

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Ground Photo 1 – Facing East

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Ground Photo 2 – Facing West

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Wire Detection Test Site Results– all returns
• All returns displayed, colored by elevation
• Single flight line displayed
• All test lines were successfully detected

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Wire Detection Test Site Results - first of manys
• Points displayed by first return but not singles
(first of manys), colored by elevation

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Wire Detection Test Site Results - lines labeled
(first of manys), colored by elevation

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Wire Detection Test Site Results – all lines
(first of manys)
• Points colored by flight line

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Wire Detection Test Site Results – video
(play in slideshow)

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“Fishing Line” Detection Test

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Ladder
Fence
Lines

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LiDAR Power Line Examples

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Sensor Fusion from a Helicopter Platform

Helicopter Mapping System Captures High Definition Sensor Data

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