Please insert a picture (Insert, Picture, from file). Size according to grey field (10 cm x 25.4 cm). Scale picture: highlight, pull corner point

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1 Please insert a picture (Insert, Picture, from file). Size according to grey field (10 cm x 25.4 cm). Scale picture: highlight, pull corner point Cut picture: highlight, choose the cutting icon from the picture tool bar, click on a side point and cut What's New? February TerraSolid Users Conference. Levi, Finland Don Marsh. Sr. Support Engineer, Airborne Sensors

2 Agenda What s New at Leica FCMS Sensor control. Current 60 s ship with. Previous ALS60 s and ALS50 s are upgradable PAV80 is qualified for ALS Full Waveform Digitizing ALS Post Processor & Utilities Qualified Solid State Drive for WF & High Altitude Operations 2

3 QUICK GLOSSARY What s New at Leica FCMS Flight Control and Management System FPES Flight Planning and Evaluation Software IPAS Leica s Inertial and Positioning System. Hardware (IPAS20) and software (IPAS Pro & IPAS Co) PAV Leica Gimble mount, qualified on ADS for years OC52 Operator Computer, controls the System. OC50 for Pilot _0.LAS, _1.LAS, _4.LAS Leica s LAS file naming convention for non-time stamp, time stamp and waveform formats 3

4 FCMS Sensor Control getting more from a single flight Options are preconfigured or changed during flight execution 4

5 FCMS Sensor Control getting more from a single flight Options are preconfigured or changed during flight execution 5

6 FCMS Sensor Control getting more from a single flight Paradigm shift Takes flight plan settings from FPES Control generally shifts to the flight planning team. Use of DTM in planning is now more strongly recommended. Easy worldwide SRTM use in FPES Less fat finger mistakes in the air by operators. For example: IPAS trajectory (IMU & GPS) data recording is automatically begun when entering flight execution. Increased eye safety throughout turns. Opens shutter at the IP, closes after line. System loads the next flight line parameters from the plan after the last one is finished. IPAS workflow has a new frame of reference (PAV pivot point) ALS Post Processor requires user reference frame (.SUP) file when processing FCMScontrolled data. 6 IPAS Pro v1.35#5 (as of Jan 12 th 2010) ALS PP v2.70#17 (as of Dec 23rd, 2009) User deals with 1 program for ALS control

7 FCMS Sensor Control getting more from a single flight FCMS control update rewrote the underlying component communication enabling a new software architecture implemented to: Be more extensible Catch system warnings and errors more efficiently TracGUI is now a slave, accepting commands from FCMS. Minimal functionality remains. Real-Time footprint display, service tasks Web Camera recording is now controlled by FCMS. (Display startup is still via TracGUI) IPAS Controller is not used, but for service tasks IPAS recording control is performed automatically by FCMS GPS lever arm values are passed from FCMS through to the raw IPAS data!single SOFTWARE CONTROL! 7

8 ALS60 General getting more from a single flight Mechanical Better Airflow within the ALS with mechanical baffles Allows flying under hotter conditions Consistent temperature throughout the system (less hot/cold spots ) Low profile ALS60 box option and mount for vertically constrained installs (Pods) Mount plate screws, from the top (4) rather than 6 from the bottom (ALS50) EMI Improvements in ALS60 Testing, checking / protocol & certification. Scanner chassis box is now Aluminum. New intensity measurement card Improvement in adjustments (None) OC52 s are finding widespread acceptance for operator display 8 Larger than the OC50 predecessor and is touch enabled Perfectly timed with the release for FCMS-control of ALS

9 ALS60 IPAS TC getting more from a single flight Tightly Coupled Solution A new Inertial/GPS processor incorporating the NovAtel/Waypoint Inertial Explorer engine. Designed in conjunction with NovAtel group, Calgary Tightly coupled GNSS/INS post processing, DGPS & PPP methods Built-in GPS raw data conversion and handling Firmware component on the IPAS electronics 9 Real-Time TC component Improvement in Static multipath, loss of SV lock in turns, poor GNSS constellation Release March 2010

10 PAV80 for ALS60 getting more from a single flight Consistent point density User frame (SOL) Gimbal pivot point Can help with minimization of induced errors 10

11 PAV80 for ALS60 getting more from a single flight More predictable scan distribution Scans are perpendicular to track Downside is that it keeps IMU steady 11

12 Please insert a picture (Insert, Picture, from file). Size according to grey field (10 cm x 25.4 cm). Scale picture: highlight, pull corner point Cut picture: highlight, choose the cutting icon from the picture tool bar, click on a side point and cut Product overview ALS Full Waveform Digitizer (FWD) February 2010

13 Agenda Full Waveform Digitizing discussion What is Full Waveform Digitizing? How is it done? What are the benefits? ALS FWD hardware configuration Specifications Operation Data processing and output Future software enhancements for exploitation of FWD data 13

14 Typical LIDAR technology implementation Develop lat/lon/el of points on ground based on: Aircraft position (lat/lon/el) Aircraft orientation (roll/pitch/heading) Scan angle Round-trip propagation time of laser pulse Atmospherics Raw data recorded in air (system) and on ground (DGPS base station) Recorded data post-processed on ground Waveform analysis concerns attributes of the range measurement Time or distance Intensity 14

15 Laser Footprint Full Waveform Digitization (FWD) basic concept Start Pulse 15 Tn, In T1, I1 Detector Signal

16 What is Full Waveform Digitization? capturing the complete return, not just the peaks Conventional discrete return electronics capture only the exact time of the peaks of independentlyrecognized return pulses Peak intensity is also measured In FWD systems, the entire return signal is measured, allowing capture of subtle deviations in the shape of the reflected as compared to the shape of the outbound laser pulse 16 Pre-Trigger Distance

17 Benefits of FWD getting more from a single flight Present Limitations Extraction of points below the discrimination threshold of discrete-return electronics (weak returns) Extraction of points with smaller vertical separation than detectable by discretereturn electronics (close, but not overlapping pulses) A Peek to Future Benefits Detection of pulse stretching (return pulse wider than laser pulse) indicating Potentially sloped surfaces Low vegetation on ground, indicating need to adjust point elevation downward Improved classification by using combination of return pulse width and spatial context Indication of biomass by evaluating area contained under the pulse shape Indication of texture 17

18 Key specifications WDM65 Waveform Digitizer Module Specification Maximum waveform rate (waveforms captured for every other laser shot if pulse rate>120 khz) 18 Value 120 khz Sample depth, Sample interval ns ns ns ns ns Typical Pre Trigger Dist Integration Weight Power Altitude Storage New internal DLM 1.0 kg 77 W 25,000 feet AMSL 160/250 GB SSD Equivalent distance 38.4 m 17.2 m 56.8 m 38.4 m 17.2 m 5m

19 Operating envelope max waveform rate versus slant range At pulse rates below 120 khz, waveforms captured at laser pulse rate At pulse rates above 120 khz, waveforms capture for every other pulse, up to 200 khz (150 khz for ALS50-II) Subsampled Every pulse measured 19

20 FWD overview flight execution using FCMS Options are preconfigured or changed during flight execution 20

21 FWD overview flight execution using FCMS 21

22 FWD overview flight execution using FCMS 22

23 FWD overview flight execution with FCMS (five options supported) 23

24 FWD overview real-time footprint & waveform display Real-time projected LAS footprints: F5 Waveforms are shown in this display, in flight, on line: F4 F4 w NEW PICTURE HERE 24

25 FWD overview post processing for waveform ALS Post Processor. v2.71 #1+ Outputs LAS 1.3, type 4 files _4.LAS Wave Viewer Utility. v Simple LAS 1.3 Waveform file viewer TerraScan. v9.14+ Support for LAS 1.3 was released Oct 2009, 25

26 FWD overview raw folder structure and syntax 26

27 FWD overview post processing: ALS Post Processor Select Process Waveform Data option. ALSPP looks for RawWfd folder with matching mission ID. Automatically outputs LAS v1.3 type 4 file for each flight line. Verification of WFD files Factory calibrated Trigger Delay values, time-align the discrete return with the waveform data 27

28 FWD overview post processing: Wave Viewer X-axis: sample (number), time (ns) or range (m) Y axis: signal strength (volts or counts) Used to review data and confirm that waveform data is correctly timealigned with discrete-return data 28

29 FWD overview post processing: TerraScan displays 29

30 FWD overview post processing: Current TerraScan capabilities Save waveform to text file. Individual or data within a fence Draw incident-to-ground beam vector Viewing of waveform profile when clicking on discrete points in the point cloud Mensurating additional discrete returns from WF data Extract Echos 30

31 On the wish list the future is here. general benefits and possibilities Discrete-less LiDAR systems (w compute ALL discrete returns SW option) is on the horizon Decreased minimum distance between discrete return system (~2.7m = 18 1ns) Surface texture mapping for your GIS Improvement in overloaded signal pulse ranging IBRC correction for discrete returns. (No IBRC needed for WF) Intensity correction/addition for discrete returns (1,2,3, currently no intens. on indep. 4th) OTF pulse shape deconvolution/corrections w measurement of outbound pulse shape Removal of atmospheric effects, scattering & pulse-shape change An OTF adaptive noise threshold system could enable detection of smaller pulses (for example, if any measurement differenc exists between A/B digitization cards) Reprocessing for removal of incident-to-terrain angle stretching using a post-processed DSM Digital CFD in ALSPP with processing options: Leading-edge, trailing edge 0.5ns measurement option is on the horizon 31

32 Exploiting individual waveforms Gaussian decomposition for finding buried data Gaussian decomposition Return signal from ground Return signal digitized at user-selected interval (typically 1 ns; equivalent to ~15 cm height) Fitting of first return Gaussian component Fitting of second Gaussian component Fitting of third Gaussian component Each Gaussian component must be fitted for: Time of occurrence Peak amplitude Pulse width Benefit: any remaining stretch of pulse can be used to indicate vegetation height on ground (and automatic adjustment of range) or inclined surfaces 32

33 Exploiting individual waveforms Heerbrugg Switzerland 29Oct09. WF Shapes 33

34 Please insert a picture (Insert, Picture, from file). Size according to grey field (10 cm x 25.4 cm). Scale picture: highlight, pull corner point Cut picture: highlight, choose the cutting icon from the picture tool bar, click on a side point and cut Thank you! ALS60 & waveform demo data available upon request