Vijay Persaud, Riegl
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Vijay Persaud, Riegl
- 1. 1 Vijay Persaud Business Development Manager – ULS San Francisco, CA | May 1, 2015 Unmanned Laser Scanningwww.rieglusa.com The Use of UAV’s for Gathering Spatial Information
- 2. 2 Unmanned Laser Scanningwww.rieglusa.com
- 3. 3 UAV Technological Timeline Unmanned Laser Scanningwww.rieglusa.com • 1980’s – RPV (Remotely Piloted Vehicle) • Operator on ground, almost near real-time control of aircraft on variable surfaces • 1990’s – UAV (Unmanned Aerial Vehicle) • Operator on ground and can take over intermittently as necessary for course correction, introduction to complete automation • 2005+ - UAS (Unmanned Aerial Systems) • Operator on ground to modify or take over in emergencies, complete flight path automation
- 4. 4 UAV’s – Effective New Tool Changing the Landscape of Aerial Surveying and Data Acquisition Unmanned Laser Scanningwww.rieglusa.com • UAS will never replace fully piloted aircraft. • UAS size = small = decreased radar, acoustical, infrared and environmental signatures • UAS is cost effective, as compared to fully manned aircraft (cheaper fuel costs, no crew downtime, minimal aircraft maintenance, no aircrew, minimal weight, easy mobility) • Safety is improved due to both piloted and autonomous flight.
- 5. 5 Advantages of each type of UAV’s Unmanned Laser Scanningwww.rieglusa.com Fixed Wing Helicopter UAV • Highly maneuverable • Great placement of sensor payload • Single motor operation • Vertical take off • Hovering in place • Low altitude flight • No need for a runway • Ability to stay airborne is not a function of the drive motor • Less overall power consumption per flight. • Stable in flight • Robust • Can survey farther distances • Good payload capability • Single motor operation Multi-Rotors • Complexity of system design has increased and developed over recent years. • Lighter and stronger materials and components • Multi-rotor components readily available • No need for a runway • Vertical take off • Hovering in place • Low altitude flight
- 6. 6 Advantages of Echo Digitization and Waveform Analysis Unmanned Laser Scanningwww.rieglusa.com
- 7. 7 Benefits to LiDAR Integrated UAV’s Unmanned Laser Scanningwww.rieglusa.com - New technology allows for LiDAR acquisition at a fraction of the current aerial surveying aircraft costs. - Small form factor allows for easy mobilization to site and thus, more remote sites. - Easy mobilization and lower operational costs, as well as time saved, results in a faster return on investment for the LiDAR/UAV remote sensing. - Faster deployment for repeat scans of an AOI - Expands LiDAR to new and novel applications currently in use with UAV’s.
- 8. 8 Unmanned Laser Scanningwww.rieglusa.com Rotors GNSS+ Radio data link Antennas Batteries Laser scanner VUX-SYS RGB-Camera UAS: RiCOPTER w/VUX-SYS Components
- 9. 9 Unmanned Laser Scanningwww.rieglusa.com UAS: RiCOPTER w/VUX-SYS Components Laser scanner + IMU + GNSS receiver VUX-SYS
- 10. 10 Unmanned Laser Scanningwww.rieglusa.com UAS: RiCOPTER w/VUX-SYS in action
- 11. 11 Unmanned Laser Scanningwww.rieglusa.com UAS: RiCOPTER w/VUX-SYS in action
- 12. 12 Unmanned Laser Scanningwww.rieglusa.com UAS: RiCOPTER w/VUX-SYS Portability
- 13. 13 UAS: RiCOPTER Key Facts Unmanned Laser Scanningwww.rieglusa.com Source: http://www.riegl.com/uploads/tx_pxpriegldownloads/RiCOPTER_at_a_glance_2014-10-29.pdf - Robust and reliable airborne scanner carrying platform - Full mechanical and electrical integration of sensor system components into aircraft fuselage - Coaxial array of 4x2 propellers enhancing flight stability and failure safety while reducing overall weight
- 14. 14 RIEGL VUX-SYS Unmanned Laser Scanningwww.rieglusa.com Field of view: 230° Weigth (excl. batteries) : 3.6kg RiCOPTER
- 15. 15 RIEGL VUX-1 Field of View Unmanned Laser Scanningwww.rieglusa.com FOV in Valley FOV in Urban Environment
- 16. 16 RIEGL VUX-SYS Workflow Unmanned Laser Scanningwww.rieglusa.com
- 17. 17 RIEGL VUX-SYS Key Facts Unmanned Laser Scanningwww.rieglusa.com FOV: 230°
- 18. 18 RIEGL VUX-1 Unmanned Laser Scanningwww.rieglusa.com • High-accuracy ranging based on echo digitization and online waveform processing • Survey grade measurement • Accuracy/Precision 10mm/5mm • High laser pulse repetition rate of 550kHz for fast acquisition • Fast scan speed up to 200 scans / sec • Operating altitude of more than 1000ft • Very compact (227 x 180 x 125mm) and lightweight (approx. 3.6 kg) • Internal data storage capability of 240 GB • Low power consumption of 60W while scanning • Easily mountable to professional UAV/UAS’s
- 19. 19 Applications of LiDAR integrated UAV’s Unmanned Laser Scanningwww.rieglusa.com Powerlines Power Plants Archeological Sites Complex Industrial Plants Agricultural Land Narrow Urban Areas Traffic Accident Scenes Architecture - Cultural Heritage Danger areas Wind Parks Offshore Oil Rigs Flood Zones Valleys Bridges Forests Gas Lines Port Facilities Open pit mines Golf Courses Wildlife Refuges Aquaducts Substations Caves Cliff Overhangs Canyons Pipelines Racetracks
- 20. 20 Example of Applications Unmanned Laser Scanningwww.rieglusa.com Shrub layer & DeadfallLidar data Terrain ModelGround Conditions Vegetation Growth Monitoring Application: ForestryApplication: Precision Agriculture
- 21. 21 Example of Applications Application: Power Line Inspection & Infrastructure Monitoring Application: Topography in Open-Pit Mining Areas www.rieglusa.com Unmanned Laser Scanning
- 22. 22 Unmanned Laser Scanningwww.rieglusa.com Study Area: Pielach 0 100 200 300 400m Freshwater Ponds Pielach River Area captured with RiCopter/VUX-SYS
- 23. 23 Unmanned Laser Scanningwww.rieglusa.com Study Area: Pielach
- 24. 24 Unmanned Laser Scanningwww.rieglusa.com Study Area: Test Flight with RiMINI
- 25. 25 Unmanned Laser Scanningwww.rieglusa.com Study Area: Test Plan
- 26. 26 Unmanned Laser Scanningwww.rieglusa.com Data Capture: Live Video Stream/Downlink
- 27. 27 Unmanned Laser Scanningwww.rieglusa.com Data Acquisition: Flight Planning UAS Takeoff site Car park Gravel road
- 28. 28 Unmanned Laser Scanningwww.rieglusa.com Data Acquisition: Flight Block Overview
- 29. 29 Unmanned Laser Scanningwww.rieglusa.com Data Acquisition: DSM Shading Detail
- 30. 30 Unmanned Laser Scanningwww.rieglusa.com Data Capturing: Point Density [Pts/m 2 ]
- 31. 31 Unmanned Laser Scanningwww.rieglusa.com 3D Point Cloud: Alluvial Forest
- 32. 32 Unmanned Laser Scanningwww.rieglusa.com 3D Point Cloud: Alluvial Forest Branches
- 33. 33 Unmanned Laser Scanningwww.rieglusa.com 3D Point Cloud: Steep Bank & Floodplain
- 34. 34 Conclusion Unmanned Laser Scanningwww.rieglusa.com RIEGL Laser Measurement Systems’ latest developments, the RiCopter and the VUX-SYS, are the first systems in the ULS segment that are bridging the gap between airborne, mobile, and terrestrial laser scanning. ULS systems are bringing professional survey-grade quality of laser scanning that will enable current and new users to be highly productive and to deliver 3D analytics much more efficiently. Thank You and Any Questions?
Notes de l'éditeur
- Riegl develops and manufactures LiDAR systems as complete solutions for a range of market segmets. Not limited to but including Terrestrial, Airborne, Mobile, Unmanned and Industrial segments. The focus of my presentation today will be on two of our main products in the umanned segment; the VUX-SYS and RiCOPTER
- A little background on UAV’s over the past 30+ years, in the 1980’s operators controlled their RPV’s from the ground with delayed real-time control. In the 1990’s improvements were made in the areas of course correction, so control algorithms were developed for autopilot control of the aircraft with correction given solely by the operator. Currently, UAS and UAV’s as we know them today can go from fully autonomous to operator controlled whenever necessary completing entire missions without user interaction but not without supervision.
- UAV’s are an effective new tool for changing the landscape of aerial surveying and data acquisition. It is important to point out that it does not eliminate the need for normal piloted surveys. UAV’s will help expand into areas previously not surveyed and allow for much more frequent surveys over specific area’s of interest than before The Impact of UAV use is much less then that of a full scale survey aircraft with crew. This means cheaper overall cost and faster mobility of survey if necessary. UAS’s are cheaper due to form factor. There are different types of energy used to get UAV’s airborne; fuel or battery power. A crew can be hard to coordinate to get a system operational. The scale of UAV makes maintenance a much more cost effective endeavor, including aircrew to keep the aircraft in the air. The safety component of a UAV is something frequently overlooked. Surveying aircrafts sometimes need to survey in areas or conditions that can compromise the aircraft, crew, or worse, non related participants on the ground. The UAV effectively removes the crew from this situation allowing for closer more detailed scans of AOI’s without possible loss of life. Due to the nature of the possible AOI’s that can be scanned, more care can be now focused on the ground to make sure there are no bystanders in harms way.
- Here we can see some advantages of the different types of UAVS’s, multirotors, fixed-wing and helicopter. In terms of materials – carbon fiber allows for a more robust airframe which holds up better in the event of crashes and it also results in a lighter airframe In terms of technology – we are seeing small scale flight controllers with autonomous flight and navigation and the adoption of collision avoidance and detection being developed. Now, any data acquisition can be controlled remotely and more data acquisition can happen during flight The low altitude flight reduces interference with cloud cover. The end unit cost per job is typically always lower than traditional airborne surveys which is a cost effective use of technology.
- So surveying and LiDAR technology are based off the same measurement concepts with precise measurement tools. Surveying measurements can be derived from a single LiDAR scan. The way it is recorded is the way the data is. No corrections needs to be applied A little explanation of the interaction of a laser pulse with it’s target: so a pulse is emitted, goes down and reflects everything and comes back. We listen the entire time and as we are listening we have our baseline then a return and then we don’t get anything in the final return denoted by the large dip back to our baseline. The fact that we can record everything is very powerful for the end user because the data can be used to deduce what they need to. So looking back we have our echo’s and we can denote that echo 1 can possibly be vegetation, and the last echo you see is usually our ground point and since it’s a little bit wider than our previous echo it means that there is possible a shrub in there somewhere.
- There are many benefits to LiDAR integrated UAV’s and mainly from a business standpoint you have to be able to justify the technology by the operational costs versus project cost. LiDAR mounted UAV will greatly reduce the operational costs in all aspects for survey grade data. UAV’s allow for data acquisition at a fraction of the cost of traditional aerial surveying. The result of a small form factor is easy mobilization and deployment to remote sites, lower operating costs, which results in faster ROI’s
- Moving onto the RiCTOPER with VUX-SYS and it’s components over the next few slides. The RiCOPTER is the first unmanned aircraft system developed and manufactured by a leading provider of laser scanners and systems that offers first class technique and system efficiency that we are well known for. The RiCOPTER is an octocopter set up in a coaxial design, for redundancy and efficiency and allows for the LIDAR/DSS payload capability with an AUW of under 25kg/55lbs and ½ hour flight times.
- The key components of the VUX-SYS is the RIEGL VUX-1 sensor, IMU + GNSS receiver and optional RGB camera
- The frame is built with weight reduction and efficiency in mind, it is comprised of carbon fiber and titanium with foldable carrier arms and a shock absorbing undercarriage. Safe landings and easy portability were key aspects in the development.
- The RiCOPTER offers outstanding stability – Battery weight for flight time, payload capability and dimensions of the Octocopter keep it Agile yet stable for controlled and precise maneuvers with sensors. This shows the RiCOPTER at an operational height of a couple hundred feet in Vienna.
- The portability of the carbon fiber main frame with foldable carrier arms and shock absorbing undercarriage is ideal for all of your projects.
- The RiCOPTER with VUX-SYS is a robust, reliable sensor platform The mechanical and electrical integration of sensor systems easily realized with the RiCopter The dimensions when arms are folded for transportation are approx. 2.5’ x 3.2’ with a height of 1.6’ With the arms extended ready to fly it is approx 6.3‘ x 6’ with the height of the RiCOPTER remaining the same.
- The VUX-SYS when mounted to the RiCOPTER gives us a 230 degree field of view because of the mounting orientation of the VUX-1 and the underside of the RiCOPTER although the VUX-1 scanner itself, while weighing only 3.6kg is capable of delivering a 330 degree field of view in other platforms. The minimum range is approximately 3 meters and maximum range is about 350m
- Again, here we have a diagram showing the Field of View of up to 330 degrees enabling data acquisition in narrow, complex environments
- The VUX-SYS is a multi sensxor system, mainly comprised of the VUX-1 sensor, imu sensor, gnss data logger and optional rgb digital camera Pic1 Here we have the Main component of the VUX-SYS which is the VUX-1 sensor Pic2 Next the IMU component of the integration is one part of the INS Pic3 Then the GPS and data logger is the second part of the INS. The INS solution is flexible as per user specifications. Pic4 The sast part of VUX-SYS is a digital camera, of which multiple can be configured for this system. Block Diagrams There are two ways to set up the VUX-SYS Either by remotely controlling data acquisition using the radio controls or by Conventional laptop data logging - Please note that data can directly be stored onto the VUX-1 itself and does not need to be stored on the laptop during acquisition The VUX-SYS adds to the modularity of the RIEGL ULS concept by allowing for different configurations and additional sensors to the system.
- Some key facts of the VUX-SYS, with a 230 degree field of view we are able to attain 350,000 measurments/sec at approx 550m with a minimum range of 3m and accuracy of around 10-15mm.
- 1) Riegl excels in time of flight based systems and digital signal processing of the return waveform. 3) The scanner has different measurement programs which are user selectable at: 50kHz, 100kHz, 200kHz, 300kHz, 380kHz and 550kHz 4) At the measurement program of 550kHz, aircraft speed of 30kn, and altitude of 100m AGL the scanner can achieve a point density of 57 pt/m2 with an even distribution 5) At a measurement program of 50kHz the scanner can achieve 1150ft (350m) AGL 6) The VUX-1 is the smallest scanner Riegl has built to date with a size of 9” x 7” x 5” in height. It brings survey grade LiDAR acquisition to new UAV and small platform technology. 7) The VUX-1 has integrated internal storage and a mems IMU. It is flexible in its capabilities to integrate other IMU options as well. 8) Using less power to run the scanner means you can apply that power to staying up in the air for longer periods of time. 9) The VUX-1 has mounting points all around its outter main shell allowing for easy mounting onto whatever aircraft available for survey Now here are some alternative platform examples in order of appearance; we have - Geo-Info which is located in China - Aeroscout out of Switzerland - Near Earth Autonomy from the USA
- Here are some applications of LiDAR integrated UAV’s; A few are powerline mapping, asset management, precision agriculture, and forestry,
- This is an example from a case study and based on the data we are able to acquire we can create different models and layers as required. The precision agriculture case that was performed in austria shows us the differences in the mean height of the vegetation in the upper right hand corner of the image and the lower left/bottom part of the image we can see the holes in the dirt, so typically high and low points within the field. For applications in forestry we can define terrain models, ground conditions, vegetation, shrub layer & dead fall and also growth modeling For applications in Precision Agriculture The specific area of interests and frequency of collects is perfectly suited for UAV applications UAV’s allow for growth monitoring with observations in irregularities in plant growth We can perform yield estimation Using the data to analyze terrain changes Observation of nutrient over/under supply Numerous observations for long term studies on geological change and growth characteristics can be performed as ewll
- This is an example of a power line case study, so we have our initial point cloud, then we have our features (power lines, towers, etc) that we’ve classified. We can acquire the complex features of the power lines and tower with no shadowing while also covering all aspects. This scanner would be ideal for this application due to the risk associated with operations personnel getting this close to power lines, so with the use of our sensor in an unmanned vehicle we can mitigate that risk. The second example is of topography in open pit mining, so typically we would use a terrestrial scanner dependent on our range needed, but utilizing a VUX-1 in an unmanned application we can fly the areas of interest, create our models and then go ahead and extract your features for volumetric analysis
- This is a study that was performed as a test project along the Pielach River which is one of Austria's purest alpine rivers Being a conservation area, space for a meandering flow is allowed within the alluvial forest and the adjacent floodplain so we were after measurments of the steep bank and it’s slope over time and the floodplain.
- This is the study area, the pielach river.
- A test flight to ‘survey’ the area to be scanned is initially observed with a RiMINI copter, which is a smaller version of the RiCOPTER without the VUX sensor
- Here are some images of a typical test plan of the Study Area. 1. After the RiCOPTER has been easily transported, arms are easily folded out to begin the safety check. 2. Next a complete safety check is and should be performed before and after every flight. 3. Next we have the data acquisition configuration being loaded via LAN 4. Finally the RiCOPTER is ready for takeoff after the flight plan has been approved and loaded. 5. Next we have one of my colleagues piloting the UAS with video glasses or as we know it FPV flying, also used to monitor autonomous flying. 6. Finally a picture of the RiCOPTER in flight capturing data of the Pielach River
- This is a screenshot of the live video downlink/stream which is available during flight to the operator and spectators.
- This shows a typical flight plan to cover the area which is developed and set up before flight and fully autonomous waypoint navigation is possible with the ground station components.
- Here is a screenshot of a 3d point cloud overview of the entire flight block that was flown over a section of the pielach river. This data is processed via the RIEGL RiPROCESS software.
- Here we have a digital surface model with shading detail of the pielach river project
- Here we have a screenshot of the pielach river based on reflectance. Point density again is typically on average around 57pts per sq meter.
- Using colorized reflectance here as well, is a 3d point cloud of the alluvial forest
- Here we zoom in to show the detail of the branches that we captured via the RiCOPTER w/VUX-SYS, this is actual LiDAR data.
- Finally a 3d point cloud that provides the detail via colorized reflectance of the steep bank and floodplain measurements that we are after.
- We are bridging the gap by combining all aspects of surveying between airborne, mobile, terrestrial and now unmanned lidar solutions. ULS segment brings professional survey grade LiDAR to UAV’s allowing for a wealth of new applications with its turn key solutions Thank you all for your time Notes: 1. We do NOT feel like it should be a competition in regards to photogrammetry vs. lidar. You are able to get certain analytics from photogrammetry that you don’t get from lidar and vice versa. So they are complimentary and you should be using both at the same time. Any questions?