2017 TSPS Annual Conference & Tech Expo Unmanned Aircraft Systems (UAS) As a Tool for Land Surveyors

Transcription

1 2017 TSPS Annual Conference & Tech Expo Unmanned Aircraft Systems (UAS) As a Tool for Land Surveyors George Southard GSKS Associates LLC

2 Introduction George Southard: Master s Degree in Photogrammetry and Cartography 40 years working in the mapping industry Owner GSKS Associates LLC Consulting for the Geomatics Profession

3 Definition of Terms Unmanned Aerial Vehicle. (UAV) An aircraft which is intended to operate with no pilot on board. Unmanned Aircraft System. (UAS) An unmanned aircraft and its associated components i.e. launcher, hand controller, computer, etc. Remotely-Piloted Aircraft System (RPAS) Another name for a UAS.

4 Drones Vs. UAVs What is the difference? Both are airborne flying vehicles that are designed to be flown without a human pilot on board the aircraft. Drone The term drone carries a connotation of being an unmanned vehicle used for military or spy operations. (The term Drone is not recognized or used by the FAA.) UAV Is the commonly accepted for an unmanned aerial vehicle used for civilian purposes.

5 This is Serious Business

6 This is Serious Business

7 This is Serious Business

8 Overview Small UAS Commercial Operations 14 CFR part 107 Is now the Law

9 Pilot in Command New Airman Class Remote Pilot o Remote Pilot requires sitting an exam at an FAA approved testing center (online option for current Certificated Airman) o No flight tests of any sort o Requires security vetting by the Transportation Security Administration o No medical requirements o Must be at least 16 years of age

10 Airman certification standards exam Summary I. Regulations Task A. General Task B. Operating Rules Task C. Remote Pilot Certification with an suas rating Task D. Waivers II. Airspace Classification and Operating Requirements Task A. Airspace Classification Task B. Airspace Operational Requirements III. Weather Task A. Sources of Weather Task B. Effects of Weather on Performance IV. Loading and Performance Task A. Loading and Performance V. Operations Task A. Radio Communications Procedures Task B. Airport Operations Task C. Emergency Procedures Task D. Aeronautical Decision-Making Task E. Physiology Task F. Maintenance and Inspection Procedures

11 Paperwork No reporting of individual flights to FAA other than: o serious accidents Level 3 or higher on the Abbreviated Injury Scale (AIS) o Damage to property where repair/replacement exceeds $500 (but excluding the suas) Notice to Airmen (NOTAM) filings are not required for most flights

12 Hardware No hardware sub-categories, just small or large o Small - less than 55 lbs. - any type, any power! o Large over 55 lbs. No hardware certifications Maximum 100 mph airspeed Control/telemetry link to the suas must be maintained at all times!

13 Operations Visual Line of Sight (VLOS) only o But momentary loss is OK (e.g. behind a stockpile) No Visual Observer (VO) required Operation from a moving ground or sea vehicle is permitted o NOTE: If the vehicle driver is also the Pilot, this is consider reckless operations and is not permitted! Remote Pilot can supervise an unlicensed operator Remote Pilot may operate only one suas at a time Daylight flying only; night time flights only by waiver

14 Operations Cannot operate directly over persons not involved in the flight, unless: o Persons are in a stationary vehicle o Persons are in a covered structure o This requirement can be waivered, if safety case is established Max flight height = 400 AGL o But can fly within a 400 envelope of structures, including the top of the structure

15 Airspace Classifications

16 Other classes, TFRs require ATC approval

17 VFR Sectional

18 Know Before You Fly

19 Why Use a small UAS?

20 Why small UAS/Photogrammetry? Small UAS can be used to: Create accurate geometric map products; like, topographic maps, planimetric maps, orthophoto maps, etc. of relatively small areas of interest. and they can do it : often cheaper, and faster than by terrestrial methods, in areas inaccessible by ground crews, with very high accuracy and precision.

21 Why small UAS/Photogrammetry? This technology is ideal for measuring areas or objects such as: Areas to be mapped are acres Areas are complex, irregular shapes Objects/areas that are too Hot or cold Soft Delicate Inaccessible Toxic or Radioactive

22 A Variety of Types and Sizes Micro (MAV) less than 1lbs suas (Small Unmanned Air System) 1lbs < 55lbs Large (Predator Drone) Medium UAS (weighs 90 lbs.)

23 A Variety of Types and Sizes Rotary Blimp Fixed-Wing

24 Traditional Surveys vs. UAS Surveys

25 Traditional Land Surveys Slow, high labor costs Work in harm s way Reduced accuracy due to low sampling density Low accuracy due to inability to see the tops, valleys in stockpiles

26 Terrestrial Laser Scanning Holes Slow, high labor costs Work in harm s way Reduced accuracy due to inability to see the entire stockpile

27 Mobile Laser Scanning Hole Lack of access void Access - Can t get around many piles Major access issues Work in harm s way Inaccurate due to inability to see the entire stockpile Relatively expensive

28 Manned Aerial Survey-Photogrammetry Can be very accurate, dense data Out of harm s way Expensive Not very responsive (long lead times, weather delays, clouds, etc) Huge technology/price barriers to entry for owner/operators

29 Unmanned Airborne Survey Very Accurate, dense data Out of harm s way Relatively inexpensive Very convenient (short mobilization times) Relatively small technology/price barriers to entry for owner/operators Restricted to small areas

30 small UAS technology

31 suas mass < 55 lbs

32 Enabling technologies Micro-GPS Receivers Small Hi- Res Cameras Light weight high capacity Batteries MEMS IMUs/gyros

33 Typical Camera Choices

34 Imaging Payloads Quality A 3D Mapping Quality B 3D Mapping Quality C Orthos Video Inspection

35 Does camera choice effect accuracy? Canon S MP Horizontal RMSE = 6.4 cm Vertical RMSE = 14.0 cm Sony NEX-5 16 MP Horizontal RMSE = 1.3 cm Vertical RMSE = 1.9 cm

36 Sensor Size vs. image noise Camera Sensor Dimensions (mm) Rows x Columns (pixels) Pixel Area (μm 2 ) Canon S x x 3000 (12MP) 3.4 NEX-5R 23.4 x x 3264 (16MP) 28.8 The light collected is proportional to the sensor pixel area. Note that the NEX has 8 ½ times the area of the Canon this is a huge difference! Photon noise varies as the square root of the image signal, so collecting more light results in proportionally less noise, i.e. a higher signal-to-noise ratio is achieved. Higher signal-to-noise means more sensitivity to low-light situations, and broader dynamic range.

37 Image Noise Noise from Cannon S100 images Significant Noise Poor Conformance

38 Image Noise Noise from NEX-5R Images Low Noise High Conformance

39 Focal length calibration Focal length is highly correlated with vertical scale and accuracy Precise focal length cannot be established for zoom lenses, even if the zoom feature is disabled.

40 Other Issues. Consumer cameras do not have a Mid-Exposure Pulse (MEP) o Real Time Kinematic GNSS o One must know the exact correlation of each photo center to the GNSS position at time of exposure o Common practice is to use the camera flash signal to create a MEP with modifications to the electronic circuitry Consumer cameras do not offer stock fixed focus lens options o Requires special lenses (which are expensive or not available for many consumer cameras.)

41 LIDAR

42 Now available for suas

43 Low end systems need work! Chock full of noise

44 LIDAR Required for Vegetation Penetration LIDAR Data Set Significant vegetation penetration

45 WorkFlow

46 small Unmanned Aircraft Systems Plan Fly, QC, re-fly Georeferencing Stereo Models Analyze, Map

47 Workflow Mission Planning Ground Control Planning Establish Control/Check/ Base Station Fly Field Check Georeference Photos Create a block Add GCPs/ Process RTK QC Generate Point Cloud, Orthomosaic

48 Workflow (cont) Load into exploitation software Test Horizontal & Vertical Accuracy Product Creation Generate DEM Generate Contours Volumetric Analysis Cross Sections Other Products

49 Ground control for accuracy

50 Controlling, Checking

51 Good control to the airborne GPS data

52 RTK/PPK Reference Options Local, permanent base Temporary base station Virtual Reference System NGS, other CORS

53 Verification is always necessary Corona Calibration Target W Arica Rd & Peart Rd, Casa Grande, AZ Semi-permanent target, sand mine near Memphis, TN

54 Defining the Project Area

55 Defining and planning the Flight

56 Upload Flight Plan to UAS

57 Flight Execution

58 Download Flight Data for Processing

59 Workflow Imaging/Data Processing Mission Planning Ground Control Planning Establish Control/Check/ Base Station Fly Field Check Align Photos Add GCPs/ Process RTK QC Generate Point Cloud, Orthomosaic

60 Data Processing to Create Final Map Products

61 2D Visualization

62 3D Visualization

63 Survey/Mapping Products Ortho Mosaics

64 Survey/Mapping Products Topo and Planimetric Maps

65 Digital Elevation Models Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

66 Elevation models combined with imagery Orthophoto mosaic Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

67 3D Topographic mosaic Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

68 Volume Computation

69 Toe Definition

70 Profiles, Cross Sections

71 Remarkably Good Results

72 data processing using the science of Photogrammetry

73 Definitions: Remote Photogrammetry The science or art of obtaining reliable measurements by means of photographs. Photogrammetry is the art, science, and technology of obtaining reliable information about physical objects and the environment through the processes of recording, measuring, and interpreting photographic images. (ASPRS, 1980)

74 Definitions: Analog Photogrammetry Using optical/mechanical/electrical instruments, to perform measurements from images printed on paper, film or glass, thus creating stereographic views of the image space for the purpose of 3D measurements. Analytical Photogrammetry Using equipment similar to those used in analog photogrammetry but which have computer/electronic components added for more efficient measurement of photographic images. Computer software programs are also a key element in these operations. Digital or Softcopy Photogrammetry The performance of photogrammetric operations using digital rather than hardcopy images. This work is accomplished primarily using computer, monitors, and a specially designed mouse along with sophisticated software.

75 Key Technologies and Terms Photogrammerty The Science of making maps from stereo imagery o Stereo (3D) Imaging o Ground Control (reference points, GPS, GNSS) o Aero-Triangulation (georeferencing) o Stereo Compilation o Topographic Mapping o Planimetric Mapping o 3D Point Clouds o Orthophotography

76 History

77 A brief history of Photogrammetry

78 A brief history of Photogrammetry

79 A brief history of Photogrammetry

80 A brief history of Photogrammetry Origins of Remote Sensing Remote sensing began with aerial photography First photographs taken in 1839

81 A brief history of Photogrammetry Paris by Nadar, circa Gasper Felix Tournachon "Nadar" takes photograph of village of Petit Bicetre in France from a balloon.

82 A brief history of Photogrammetry City of Boston by Black and King (1860), from hot air balloon

83 A brief history of Photogrammetry

84 A brief history of Photogrammetry Major developments in aerial photography WW1

85 A brief history of Photogrammetry After the war the technology was in place to begin large scale aerial surveys

86 Photogrammetric Fundamentals First Assumption: the photo image is a flat planar surface

87 Photogrammetric Fundamentals Second Assumption: There are planar distortions in all photo images: - Distortions come from two sources 1) the camera platten for film or the CCD platten for digital images 2) the camera lens(s)

88 Photo Orientation Six positions of orientation are needed to georeference each photo Ω Omega Yaw Φ Phi Pitch Κ Kappa - Roll x Longitude y Latitude Z - Elevation

89 Known constants and variables..

90 Precisely controlled image capture..

91 Precisely controlled image capture..

92 Aerial Photography -Stereo pair Over lap about 60%

93 Precisely controlled image capture.. Over lap about 60%

94 Types of Photogrametry

95 Photogrammetric Types Photogrammetric Types from Applications Point of View (d is distance from camera to object) Close Range Photogrammetry Aerial Photogrammetry Space Photogrammetry d<50 m 50m>d<15km d = 300 km+

96 Close Range (terrestrial) Photogrammetry

97 Close Range (terrestrial) Photogrammetry

98 Aerial Photogrammetry

99 Space Photogrammetry Extraterrestrial pictures taken from spacebased cameras

100 Introduction Types of Images Panchromatic, Black & White, Grayscale Color - Red Green Blue (RGB) Multispectral (RGB + Infrared) Hyperspectral

101 Panchromatic Image Sensitive to light in the nm range

102 Black and white Image

103 Grayscale Image

104 False Color composite image

105 True Color composite image

106 Types of photographs (categorized by tilt) Vertical - camera axis as nearly vertical as Possible Oblique - camera axis intentionally tilted Low Oblique High Oblique

107 Types of photographs (categorized by tilt)

108 Vertical - Aerial Photo Mainly used for mapping

109 Low Oblique Aerial Photo Seldom used for mapping Low oblique (no horizon)

110 High Oblique Aerial Photo Horizon line in the photo Typically used for 3D city modeling

111 Aerial images are not maps! Characteristic of a Map vs a Photo Maps are based on parallel projection while photo has central projection Maps have a unique scale. Photo scale varies depending on terrain relief and degree of radial distortion

112 Image Acquisition for photogrammetric mapping

113 Image Acquisition Photos taken in parallel flight strips

114 Image Acquisition Each successive photograph overlap previous photo

115 Ground Control Point Planning

116 Types of Ground Control Points

117 Types of Stereo Model control layout Full Stereo Model Control Stereo Model Control for Aero-triangulation

118 Types of Stereo Model control layout Full Stereo Model Control with Aero-triangulation

119 Types of Stereo Model control layout Aero-Triangulation - (georeferencing all images for a unified block of ground control positions and tie points)

120 Photogrammetric Instruments

121 Direct Optical Projection Stereo plotters MULTIPLEX MODEL SKETCH

122 Direct Optical Projection Stereo plotters Kelsh Optical/ Mechanical Stereoplotter 1930s to 1970s

123 Direct Optical Projection Stereo plotters Wild Heerbrugg A8 Analogue Optical Mechanical Stereoplotter 1960s to 1980s

124 Direct Optical Projection Stereo plotters Wild BC2 analytical stereo-plotter. Analytical Optical/Electronic Stereoplotter 1980s 1990s

125 Softcopy (digital) Stereo plotters Digital Softcopy Stereoplotter 1990s - Present

126 3D Aerial Film Cameras Wild C Wild RC Wild RC30 & Zeiss TOP s

127 3D Stereo Digital Imaging Cameras Airborne Imagery Cameras - Manned Aircraft: Large Format RGB and IR 200 MP Medium Format RGB or IR MP Small Format RGB or IR MP

128 3D LIDAR Scanning Airborne LIDAR: Manned Aircraft Wide Area Mapping khz pulse rate OR Corridor Mapping khz pulse rate

129 3D LIDAR Scanning Airborne LIDAR: Unmanned Aircraft

130 3D LIDAR Scanning plus Imaging Airborne Imaging & LIDAR: Unmanned Aircraft High Quality Photogrammetric Mapping Calibrated Lens Distortion, Mid- Exposure Pulse, Fixed Focal Length Medium Quality Photogrammetric Mapping, Lens characterization, no MEP Imaging only, no photogrammetric mapping, no lens correction

131 Photogrammetric Image Processing o Ground Control (reference points, GPS, GNSS) o Aero-Triangulation - (georeferencing all images a unified block and tying the block to ground control positions) o Stereo Compilation (3D extraction of information from the georeferenced block of imagery) o Topographic Mapping o Orthophotography o Planimetric Mapping

132 Photogrammetric Image Processing Contour/topographic map

133 Photogrammetric Image Processing Topographic Map with Planimetric Features

134 Photogrammetric Image Processing Orthophotography 3D Ortho Mosaic

135 Land Survey vs. UAS Survey Example UAS Survey GNSS Survey Comments Area 1.5 km km 2 Ground control setup & measurement 1 ¼ hr --- Ground control not required for all applications Setup time 15 min 15 min (per day) Survey time 45 min 30 ½ hr (4 days) Tear-down time 15 min 15 min (per day) Data processing time 4 hrs (2.80 GHz Intel Core i7, 16 GB RAM) --- Data can be processed overnight Total time 6 hr 30 min 32 hr 30 min 5x faster than GNSS Measurement sampling Distance 3.8 cm (at 120 m flight altitude) 15 m Minimum sampling size is 2.4 cm Horizontal accuracy 2 cm 1 cm Vertical accuracy 4 cm 2 cm

136 Topographic Survey Comparison Surface model generated from UAS survey (± 300,000 measurements) Surface model generated from GNSS survey (±1,000 measurements)

137 Flight Calculator Table Height (m) GSD (cm) Flight Lines Coverage / Flight (km 2 ) 70% 80% 90% Coverage / Day (km 2 ) 70% 80% 90%

138 Accuracy Comparisons Project Project Number of TYPE LOCATION IMAGES GSD AREA #GCPs Software PROCESSING RMSE per pixel Covered VERSION TIME³ X, Y Z Mining Canada cm 0.26 km² 8 PhotoScan Pro 2 hr 4.0 cm 10.3 cm Forestry Alaska cm 0.83 km² 11 Pix4UAV 6 hr 3.4 cm 4.2 cm Test field Belgium cm 0.84 km² 8 Stretchout 20 min 6.4 cm 12.0 cm Pix4UAV 5 hr 1.6 cm 3.0 cm Mining USA cm 1.2 km² 5 Pix4UAV 10 hr 1.9 cm 3.7 cm River Bank Spain cm 13.1 km² 27 Cloud 48 hr 4.5 cm 9.5 cm Golf Course Switzerland cm 2.5 km² 8 PhotoScan Pro 4 hr 9.2 cm 27.4 cm

139 Photogrammetric Image Processing o Orthophotography Vertical Photo Mosaic DTM/DSM (3D-view)

140 Photogrammetric Image Processing o Planimetric Mapping

141 Target Markets Engineering & Surveying Mining Civil & Heavy Earthworks Construction Oil & Gas Environmental & Landfill Public Agencies Agriculture & Forestry

142 Topographic Survey Example Switzerland 510 Images 400 m Flight Height 11 cm GSD 3.12 km 2

143 Highway Design Work Belgium 462 Images 150 m Flight Height 5 cm GSD 0.8 km 2

144 Construction Progress Monitoring United Kingdom 150 m Flight Height 5.7 cm GSD 2.4 km 2

145 Volume Calculation Open Pit Mine 641 Images 150 m Flight Height 5.6 cm GSD 0.12 km 2

146 Resource Management Namibia 288 Images 100 m Flight Height 5 cm GSD 1.5 km 2

147 Vegetation Health Monitoring Assenede 288 Images 100 m Flight Height 5 cm GSD 1.5 km2 Color relates to Normalized Difference Vegetation Index (NDVI) value - indication of health

148 Landfill Management Landfill, Colorado 588 Images 175 m Flight Height 6 cm GSD 1.2 km 2

149 Medium Format Digital Aerial Camera Railways

150 Medium Format Digital Aerial Camera Highway & Roadway

151 Medium Format Digital Aerial Camera Utility Mapping

152 Lidar Corridor Scanning Virginia Power, northwest of Richmond. 7 cm GSD. All images courtesy of Tuck Mapping.

153 Lidar Coastal Mapping Scanning Southern part of Sylt Island, North Sea, Germany. Shaded relief DSM (left) and pseudocoloured DSM (right). Copyright Owner ALR, Germany.

154 Classification of LIDAR data

155 Visual Editing of LIDAR data Well, it looked like a pile to the computer!

156 Before purchasing your UAS Some Things to consider: Do you really need a UAS? Be sure you really know why you want a UAS Know what kind of work you expect to do and what types of deliverables you plan to produce Some common applications Construction management Open pit mining Stock pile inventory Landfill management Bridge inspection Environmental monitoring Transmission line inspection

157 Before purchasing your UAS Some Things to consider: What is your budget for the system? A Rough Estimate of 1 st year costs: Equipment/SW Cost: $60K $150K Pilot Salary: $40K - $100K Regulatory Cost: $5K - $10K Annual Maintenance: $10K - $25K Total 1 st year start up: $115K - $285K

158 Before purchasing your UAS Some things to consider: Will you need to hire additional staff? The typical suas crew for mapping & survey work consists of: Pilot in Charge (operator) Observer(s) Land Surveyor Image/data processing specialist Do your people have the right skills? Aviation training (FAA Remote Pilot minimum) for pilot and observer Land Surveyor with general surveying experience and standard equipment for establishing ground control points Remote Pilot and/or observer needs to have professional photographic skills

159 Does this describe your UAS pilot? Will work for minimum wage? Likes to party? Has medical marijuana card or is using other non-faa approved medications/drugs? Has high score in Grand Theft Auto? Family relative of the owner? Felony or DUI conviction? Poor decision making skills? Lot s of life drama?

160 Professional UAS Pilot Checklist Can study for and pass FAA Exam. Has good vision. Has good life/work skills. VERY safety conscious. Actively improves proficiency Maintains FAA currency. Clean criminal / DUI history

161 UAS Manager Checklist Will not override the pilot s fly/no-fly decisions. Will not pressure pilot because of deadline, client importance, weather, etc. Will support pilot in increasing proficiency, and maintaining currency. Will establish, follow, and enforce company safety policy and all FAA rules. Invests in dedicated UAS staff.

162 Before your new UAS arrives Some things to consider: Training needed for your UAS team Pilot in Charge FAA operator s course and exam Learn basics of aviation, air space regulations, navigational charts, aviation weather, etc. UAS Manufacturer s training Operations and maintenance of aircraft systems Aircraft safety and operations manual and training Detailed understanding of aerial photography techniques Plenty of practice with the onboard camera Understanding of lighting conditions and camera settings Learning flight characteristics of each UAS

163 Before your new UAS arrives Some things to consider: Training needed for your UAS team (cont.) Flight Observer FAA operator s course and exam Should also be trained in system maintenance Land Surveyor with experience in setting ground control for aerial photography Image/Data processing specialist Knowledge and experience with each of the various software suites for the UAS and the final products Knowledge and experience preparing flight plans

164 Before your new UAS arrives Some more things to consider: Facilities for your UAS operations. Secure storage for UAS system Space for layout, set-up, and repair work Vehicle for transport to job sites Should be large enough for equipment and crew Including: 2-4 people The UAS with its many components Surveying equipment Launcher Misc. tools Etc.

165 Aircraft and Sensor Considerations Multiple platforms may be necessary for multiple mission profiles (rotor wing / fixed wing,) Multiple sensors / lenses may be necessary for multiple mission profiles (high res / long focal length, low res short focal length) The more flexible the aircraft and sensors, the more mission profiles available. > ROI

166 Summary & Lingering Questions We have a confluence of new enabling technology for direct 3D modeling from suas platforms, is this the time for you to start using this technology? Sweet spot will be where the cost ground survey and flying full scale manned aircraft is too high, but UAS will work. Will the business paradigm shift? will owners of mines, farms, etc. want operate their own suas? Will they hire you? Where do owners of traditional Aerial Mapping companies fit? Will regulations ever catch up to the advances in technology? Example UAS can fly much higher than 400ft.

167 Questions

168 Photogrammetric products Introduction Photomap (Orthophoto) DEM/ DTM DSM

169 Introduction Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

170 Introduction Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

171 Introduction Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

172 Introduction Pit Mine, Argentina 362 Images 200 m Flight Height 6.4 cm GSD 500 x 900 m

173 Choosing a platform Flight Duration Safety Wind Resistance Payload Capacity Low speed flight Loiter Ease of Takeoff Ease of Landing Confined Spaces Assuming the same energy payload (same battery capacity) Low speed flight is required for low altitude, high resolution imaging