Georeferencing with AEROcontrol GPS/IMU data · 21.09.2006 · May 28 th, 2008, Stuttgart...
Transcript of Georeferencing with AEROcontrol GPS/IMU data · 21.09.2006 · May 28 th, 2008, Stuttgart...
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May 28th, 2008, Stuttgart
Georeferencing with
AEROcontrol GPS/IMU data
Jens KremerIGI mbH
57223 Kreuztal / Germany
IGI mbHLangenauer Str. 4657223 Kreuztal, Germanywww.igi-systems.com
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Guidance and
Sensor Management
GPS / IMU SystemsIntegrated Sensor Systems
for Special Applications
Guidance and
Sensor Management
GPS / IMU SystemsIntegrated Sensor Systems
for Special Applications
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CCNS:Guidance and Sensor Management
1988
Today
Development in Aerial Survey
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Guidance and
Sensor Management
GPS / IMU SystemsIntegrated Sensor Systems
for Special Applications
• LiteMapper• DigiCAM • StreetMapper
digital elevationmodel (DEM)
point cloud
Airborne LiDAR Mapping
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LiteMapper - Airborne Lidar Mapping
pulse repetition rate: up to 240 kHz
range: up to 1800 m
number of targets / pulse: unlimited for digitized waveform
Installation in a Bell 206 Jet Ranger
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Installation in a MI 8
380KV Powerline h = 85m / v= 40kn
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380KV Powerline h = 85m / v= 40kn
Project “Aahlen”
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Simulation of Elbe river water levels
Project: city of Dresden, Saxony, Germany
Images kindly provided by Milan Flug GmbHImage © Landestalsperrenverwaltung (LTV),Fre istaat Sachsen, Germany
DSM -Digital Surface Model
Ground point spacing:1 point/m² raster, approx.4 mio. points total
Flood Risk Management
114 m
Flood Risk Management
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116 m
Flood Risk Management
118 m
Flood Risk Management
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120 m
Flood Risk Management
DigiCAM
Corridor mappingPower linesPipelinesRoads
Rail tracks
Small to mid size projects
Rapid response applications
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DigiCAM-H/39
39 Mpixel CCD back
Control computer with two storage units
Graphical User Interface with touch screen
DigiControl GUI
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DigiCAM Installation Examples
DigiCAM Installation Examples
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Dual DigiCAM
Dual DigiCAM
• One exposure = two separate photos
~ 14 kPixel or ~ 10,4 kPixel
Total image width (across track):
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Untersuchung der Genauigkeit II
Untersuchung der Genauigkeit II
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Guidance and
Sensor Management
GPS / IMU SystemsIntegrated Sensor Systems
for Special Applications
Motivation - Which accuracies do we need?
Why GPS and IMU?
GPS/IMU integration
The AEROcontrol system - used components
How to use GPS/IMU results for Georeferencing
Examples
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Georeferencing connect information of an airborne sensor with aposition in space
Z
Y
X
Indirect using the sensor dataExample: AT
Direct NOT using thesensor data
positionattitudevelocity ( e.g. SAR)
Direct Georeferencing
Accuracy : What do we need?
Position Attitude
As good as theaspired accuracy of the
final result
~ cm to m
Good enough to reachcm to m accuracy on
the ground:e.g. TOP10DK
image scale: 1:25000 (3825m)
~ 0.05° to 0.001°
h tan (α)= dx / h
dx
α
tan (α)= 1m / 3825m
α= 0.015°
Why GPS/IMU?
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GPS: ~5-10m
Dependent on:
Distance from the base station
Satellite configuration (numberand position of the satellites)
Reception conditions
Rate 1 - 20 Hz
No attitude measurement(antenna array: 5m distance, 1 cm ∆pos: ∆α > 0.1°)
ReferenceStation
Possible accuracy : a few cm (kinematic!)
Differential GPS using phase and doppler measurements:
Satellite
dGPS
High data rates: > 50 HzAttitude measurement as good as you like ( ... price?! )
“Dead reckoning system” All sensors are imperfect => increasing attitude and position error: e.g. accelerometer bias ab => position error = 1/2 ab t2
Po
sitio
nin
g A
ccu
racy
[m
]
Time [min]
Inertial Navigation
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1. Calculate initial position, attitude and velocity (the initial state )
2. Calculate the actual state with the IMU data (“strapdown algorithm”)
GPS/IMU Integration
initial state
attitudeearth rotation and rotation of the navigationcoordinate system
gravity
corioliscorrection
velocity
position
gyro
acc.
e.g. 256 Hz
“Strapdown Algorithm”
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1. Calculate initial position, attitude and velocity (the initial state )
2. Calculate the actual state with the strapdown algorithm
3. When GPS measurements occur: use Kalman Filter to estimate optimal state , including IMU properties
state vectorx: pos, att, vel, IMU properties
measurement vectory: ∆pos, ∆vel
GPS/IMU Integration
1. Calculate Initial Position, Attitude and Velocity (the initial state )
2. Calculate the actual state with the strapdown algorithm
3. When GPS measurements occur: use Kalman Filter to estimate optimal state , including IMU properties
Note: forward- backward calculation and smoothingcan improve the result significantly!
state vectorx: pos, att, vel, IMU properties
measurement vectory: ∆pos, ∆vel
GPS/IMU Integration
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AEROcontrol
Differential GPSInertial Measurement Unit
Kalman Filter
Position Velocity Attitude
Direct Inertial Aiding
AEROcontrol-IId
AEROcontrol computer unit with GPS receiver and IMU
AEROoffice software incl. GrafNav
Hardware Software
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• Three accelerometers• Three gyroscopes
Measurement of the motion in all three axes.
AEROcontrol-IId IMU
IMU - Inertial Measurement Unit
IMU with fiber-optic gyros
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Fiber Optic Gyros
The Fiber Optic Gyro Principle
1. no Rotation1. no Rotation
2. with Rotation2. with Rotation
© LITEF GmbH 2005
AEROcontrol IMU - IIdwith fiber optic gyros
Drift: 0.1°/hNoise: 0.02°/ SQRT(h)Rate: 128 or 256 Hz
500m optical fiber
IGI IMU-IId
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GPS Receiver
NovAtel OEMV-3
• 72 channels
• triple frequency
• optional OMNISTAR HP
• optional GLONASS
Precise Positioning
Real time differential GPS:
• own station
• public station (“CORS”)
PPP - Precise Point Processing: integrated in AEROoffice with
GrafNav 8.10
Post processed differential GPS:
• StarFire - NavCom SF-2050M
• OmniStar HP
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dGPS: with Base Station
Post Processing
- use your own station or - data from permanent stations (CORS):
www.sapos.de
OmniSTAR HP
OmniSTAR HP coverage
AEROcontrol GPS board incl.NovAtel GPS with OmniSTAR-HP
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OmniSTAR HP
Mean RMS North -0.231 m 0.034 m East -0.256 m 0.051 m Up -0.174 m 0.069 m
position and orientation available before landing
PPP - Precise Point Processing
integrated in AEROoffice with
GrafNav 8.10
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Lever Arm Correction
1.75m
Lever Arm Correction
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Lever Arm Correction
tan 5° * 1.75m = 15cm
wind
Lever Arm Correction
• Mount angles read by AEROcontrol
• Changing lever arm calculated during post processing
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with mountangle readout
without mountangle readout
Plots: IMU position prediction vs. GPS position measurement
Lever Arm Correction
Georeferencing connect information of an airborne sensor with aposition in space
Z
Y
X
Indirect using the sensor dataExample: AT
Direct Georeferencing
Direct NOT using thesensor data
positionattitudevelocity ( e.g. SAR)
at the correct time!
correct sensor model
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zS
xSSensor IMU
GPS Antenna
zB
xB
yByS
The lever-arms have tobe taken into account
Careful measurementof the attitude of theIMU
Correct sensor model atthe data collection time
Exact synchronization
Calibration
System Calibration
Sensor Calibration
• focal length• principal point• angle encoder• ...
• Calibration lab• camera: 2 years
• or selfcalibration
Calibration
IMU Calibration
• IMU properties
• at the IMU provider• IGI: 2 years
Misalignment Calib.
• angle offset• position offset
• calibration field ormission area
• after systemmodification
System Calibration
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DG or ISO ?
Position and Attitudefrom GPS/IMU
GeoreferencedImage Data
Integrated Sensor Orientation
Extended aerial triangulation with GPS/IMU data as additional input.
ISODirect Georeferencing
Direct use of calibratedGPS/IMU data to georeferenceimage data.
DG
Direct Georeferencing
Z
Y
X
No GCPs and no AT
Very fast
Need for calibration
No redundancy
Limited accuracy
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Integrated Sensor Orientation
Need for AT of themission area
No extra calibration
Redundant measurement
Accuracy not limited byGPS or IMU
Z
Y
X
Integrated Sensor Orientation
• without any ground control• with 1 GCP• with some GCPs
• extended AT for the mission area• GPS/IMU results are used
as additional measurements
• no need to determine calibration parameters explicitly
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Direct Georeferencing I
• without any ground control• with 1 GCP• with some GCPs
• extended AT for a small part of the mission area
Direct Georeferencing II
• use calibration from an other area(e.g. flown at an other day)
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Example: DMC with 12µm pixels and 120mm focal lengthtan 0.004° * 120mm ≈ 8µm 1RMS angle error < 1 Pixel
DG or ISO ?
dSangle
Roll / Pitch
dSposition
dxpitch
roll
yaw
Displacement of a pixel from position and attitude errors:
DG or ISO ?
dSangle
Roll / Pitch
dSposition
dxpitch
roll
yaw
Displacement of a pixel from position and attitude errors:
Example: Aerial photo mission for large scale mapsflying height ~500mtan 0.004° * 500m = 3.5cm dGPS accu racy ??
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DG or ISO ?
Position and Attitudefrom GPS/IMU
GeoreferencedImage Data
Integrated Sensor Orientation
Extended aerial triangulation with GPS/IMU data as additional input.
medium to large scale mapping
• highest accuracy• no extra boresight calibration
Direct Georeferencing
Direct use of calibratedGPS/IMU data to georeferenceimage data.
small to medium scale mapping,orthophotos
• largest savings possible
ISODG
The optimal choice of the georeferencing workflow(and calibration) is the key to a (commercially)successful operation of an aerial camera/GPS/IMUsystem.
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Mission Examples
DG: Dual-DigiCAM ifp / IGI
ISO: strip project, RWS highway
DG: UltraCam block project "Wesco"
Dual DigiCAM
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Example: Direct Georeferencing
• optimal GPS conditions (GPS accuracy ≤ 5 cm)• good lever arm determination
Estimation of the angle- and position accuracy:
dSangle
hg=850m
0.004 °
dSangle ≈ tan 0.004° • 850m = 6 cm
dSposit ion ≈ 5 cm
071219 - Vaihingen Enz
Cessna 206 (single engine)
19.12.2007 Weser Bildmessflug
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Weather Conditions
Mission Planning 7cm GSD
7 cm GSD60% / 76%
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Direct Georeferencing Results
Preliminary results!Final results will be presented at the XXI ISPRS Congress 2008 in Beijing.
Integrated Sensor Orientation
Aerial photography of a track
AT:The roll angle is difficult to get, the yaw angle is well known.
Consequence: additional parallel lines a high number of GCP‘s
GPS/IMU: The roll angle is very well known, the yaw angle is more difficult to get.
For a single strip, the AT and GPS/IMU complement one another very well.
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Integrated Sensor Orientation
Integrated Sensor Orientation
SIGMA 0 = 4.07 (1/1000)RMS control point residuals: 18. 6. 7. (1/1000)Max. control point residuals: 49. 17. 27. (1/1000)
ISO with 88 GCPs
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Integrated Sensor Orientation
SIGMA 0 = 3.94 (1/1000)RMS control point residuals: 12. 2. 7.Max. control point residuals: 15. 2. 12.
RMS of check pointresiduals: 32. 38. 50.
ISO with 4 GCPs
Integrated Sensor Orientation
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-0,2
-0,15
-0,1
-0,05
0
0,05
0,1
0,15
0,2
1 23 45 67 89
111
133
155
177
199
221
243
265
287
309
331
353
375
397
419
441
463
485
X [east]RMS: 1.5 cm
Y [north]RMS: 2.7 cm
Z [height]RMS: 3.0 cm
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Aerial photography mission flown for
Date: September 21st 2006
Area: Tsuruma (near Tokyo)
Camera: ULTRACAMD
Camera mountleveling: AEROcontrol
Guidance and
precise positioning: CCNS/AEROcontrol
Data processing: MATCH-AT and AEROoffice
Greater Tokyo Area
Airport of departure:Chofu Airport
WESCO: Mission Area
17 sqkm
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WESCO: IMU Installation
WESCO: Camera and GPS Antenna
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GSD: 15cmBlock: 4*16 ImagesOverlap: 80% / 60%
GSD: 7cmBlock: 4*28 ImagesOverlap: 80% / 60%
13 Ground Control Points
WESCO: Flight Planning
WESCO: Flight Mission
September 21st 2006
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0.07m
35m
2m
33m
0.01m
35m
WESCO: Guidance Accuracy I
Difference [m] in f light direction (caused by the CCNS and the real-time GPS accuracy).
Difference [m] perpendicular to the flight direction (caused by the pilots skills).
IFD AFD
RMS 2.31 17.66
Mean –0.43 2.64
WESCO: Guidance Accuracy II
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WESCO: Misalignment Calibration I
Automatic tiepoint generation with INPHO MATCH-AT
WESCO: Misalignment Calibration II
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Misalignment calibration inside AEROoffice ∆ωφκ < 0.004°
WESCO: Misalignment Calibration III
10003
10005
10008
WESCO: Direct Georeferencing
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INPHO MATCH-AT 5.0
www.igi-systems.com
©M
il an G
eoser v
ice