From the First Flight of SEAHAWK

Transcription

1 From the First Flight of SEAHAWK Joong Yong Park (ELiT Geomatics), Hyunsuk Kim, Eunyoung Kim, Gwangjae We (Geostory), Thomas Craney, Eric Brown, Domenic Carr, Christopher R. Valenta (Georgia Tech Research Institute), Grady Tuell (3D Ideas)

2 Agenda: SEAHAWK Overview Status Update Lab Testing/Development Field Test First Flight Data Products Next Steps

3 Overview Geostory initiated a collaborative effort with the Georgia Tech Research Institute (GTRI) to design and build SEAHAWK and will operate/own the system. ELit Geomatics facilitated the Geostory and GTRI partnership, played a key role in shaping technical objectives as a SME, and leads the post-processing software development for SEAHAWK. GTRI led the engineering and development of the SEAHAWK Real-time software/tpu and hardware architecture through M&S, analysis, design, fabrication, build/integration, testing, deployment, operator training, and will provide support/maintenance for year 1. 3D Ideas has acted in a lead system engineering role to shape/track system technical objectives, perform analysis, and provide technical expertise in a SME capacity. SEAHAWK was designed for conducting research of Lidar performance in turbid water along the west coast of Korea and was funded by the Ministry of Oceans and Fisheries, Korea.

4 Overview High Level Technical Objectives High-performance, compact topo-bathy lidar (low SWaP) Easily serviceable/maintainable with minimal downtime KD Max 3.8 (daytime) IHO-Order-1b (EAR99 Compliant) Real-time point cloud and waveform visualization with TPU Raw data transferred via removable hard drives Data formats fully-compatible with Geostory s post-processing software (developed in Korea) Optimized design for Geostory owned E90 aircraft Rendering of SEAHAWK system installed in E90 fuselage

5 Overview Technical Approach Operate in high-power, linear-mode, waveform-resolved regime 3 channels: deep green; shallow green; IR Custom water-cooled 30W 10kHz DPSS NdYAG frequencydoubled laser SEAHAWK sensor head exploded view Greatly reduced SWaP: Ultra-compact telescope, optimized circular scanner, and highly integrated and custom electronics Modular component design facilitates mobilization and maintenance/serviceability SEAHAWK Predicted : C BL = ; KD Max = 4.12 (daytime) Point clouds and waveforms viewable in RT. Operator may choose to visualize RT point clouds colored by depth or TPU Easily accessible and removable SSD s for raw data transfer

6 Overview SEAHAWK Specifications SEAHAWK Power Requirements Operating Temp Storage Temp Humidity Sensor Head (cm) Electronics Rack (cm) Thermal Rack (cm) 78 A for 28 VDC 0 o C to 50 o C -10 o C to 60 o C 0-95% non-condensing 44.2W x 51.5D x 49.9 H; 73kg 53.1W x 70.1D x 48.3 H; 76.1kg 53.1W x 70.1D x 48.3 H; 62.2kg As-Built SEAHAWK Sensor Head Key Attributes Total System Volume m 3 Total System Weight Real-time processing and operator visualization: point clouds, waveforms, and TPU providing on-station accuracy assessment of bathymetry First circular scanner with co-located IR & green Reduced SWaP Modular design facilitates mobilization and service/maintenance Increased environmental operational range 211 kg

7 Lab Testing/Development SEAHAWK electronic breadboard layout during development

8 Lab Testing/Development Power Distribution Unit (PDU) test set-up under full load Thermal testing of PDU (image from FLIR camera) PDU fully assembled w/pilot kill switch

9 Lab Testing/Development Refractive/diffractive Tx/Rx alignment Ultra-compact Ritchey-Chretien telescope (collaboration with Myongji University, fabricated in Korea) Complete circular scanner Holographic Optical Element (HOE) characterization

10 Lab Testing/Development Atlanta, GA Benchtop Demo August 2017

11 Lab Testing/Development Sensor head on isolated aircraft mounting frame (coke can for size reference) Sensor head with cover removed

12 Field Test Hard Target Test (HTT) Set-up Target Board 21 May 2018 Verner Farm, Rutledge, GA

13 Field Test Sensor head mounted on end looking out van door Operator Station mounted in back of van orthogonal to sensor head

14 Field Test Kinematic Point Cloud (first returns only) Downrange target board Downrange target board with green filter

15 Flight Test SEAHAWK First Flights June 4-8 th, 2018 Airborne Imaging DC-3

16 Flight Test SEAHAWK system installed and in system ready operational state SEAHAWK sensor head bottom view

17 Flight Test SEAHAWK operator station 2-D concept SEAHAWK operator station as-built

18 Flight Test Flight Plan 25 East-West flight lines 2 North-South lines 1 diagonal fight line First Ft. Lauderdale, FL

19 Initial Results Data was successfully collected for all lines except for the following east-west lines: Line 1: Line 2 was flown twice Line 3: IMU wasn t locked Line 12: Pilots skipped/missed Line 24: Scanner wasn t at full speed Images shown: Have very limited post-processing No GNSS correction Calibrations have not been applied Shallow Green only DSM

20 Initial Results Real-time topo-bathy point cloud Raster bathy depth (shallow green)

21 Initial Results Topo-bathy shallow green channel

22 Initial Results Raw Waveforms 2 meter 6 meter 13 meter 18 meter 26 meter 30 meter

23 Initial Results SEAHAWK Raw Topo Point Clouds IR (10mrad FOV) Shallow Green (10mrad FOV) Deep Green (38mrad FOV)

24 Initial Results First Flight Technical Challenges Issue with NAV log files (resolved) Aircraft power challenges Resolved during installation Thermal management system (TMS) OEM wiring issue resolved during installation Small defocus issue in IR channel Making small opto-mechanical adjustment (in-process)

25 Next Steps Post process data to satisfy derived technical objectives SEAHAWK ships to Korea June 29, 2018 GTRI will deploy to Korea for Operator training, install in E90, and conduct flight testing in July 2018 GTRI fabricating spare modules Derived Technical Objectives (1) Real-time Coordinates and TPU (2) 1:1 product ratio (3) KD Max (daytime) = 4.2 (4) Depth range = 0 to 30m (5) Bathymetric Spatial Density = 1.5m (6) Bathymetric Accuracy (V) [0.3 +(0.013d) ] 1/2m, 2 sigma, 0-30m (H) ( d) m, 2 sigma (7) Land/water discrimination 99% (8) Topographic Spatial Density 0.5m (9) Topographic Accuracy (V): ±15 cm, 2 sigma (H): ±1 m, 2 sigma Post Processing Topo-Data Point Clouds (ELit laptop left) GTRI laptop (Right)

26 Next Steps

27 Next Steps

28 Acknowledgements This research was a part of the project titled 'Development of Airborne LiDAR Bathymetry Equipment Localization Technology', funded by the Ministry of Oceans and Fisheries, Korea."

29 Questions? Hyunsuk Kim Joong Yong Park Thomas Craney Grady Tuell