Full Waveform Digitizing Airborne Laser Scanner for Wide Area Mapping LMS-Q78 l up to 66 measurements/sec on the ground even from a typical operating altitude of 67 ft l multiple time around processing: up to 1 pulses (MTA zone 1) simultaneously in the air l full waveform analysis for unlimited number of target echoes l high laser pulse repetition rate up to 4 khz l high ranging accuracy mm l high scan speed up to lines/sec l wide scan field of view up to 6 l optimized for measuring snowy and icy terrain l interface for smooth and direct GNSS-time synchronization l seamless integration and compatibility with other RIEGL ALS-systems and software packages The new RIEGL LMS-Q78 long-range airborne laser scanner makes use of a powerful laser source, multiple-time-around (MTA) processing, and digital full waveform analysis. This combination allows the operation at varying flight altitudes and is therefore ideally suited for aerial survey of complex terrain. The RIEGL LMS-Q78 gives access to detailed target parameters by digitizing the echo signal online during data acquisition, and subsequent off-line waveform analysis. This method is especially valuable when dealing with difficult tasks, such as canopy height investigation or target classification. Multiple-time-around processing allows the utilization of target echo signals which have been detected out of the unambiguity range between two successive laser pulses. In post-processing the correct allocation of ambiguous echo ranges is accomplished by using RiANALYZE in combination with the associated plugin RiMTA. The operational parameters of the RIEGL LMS-Q78 can be configured to cover a wide field of applications. Comprehensive interface features support smooth integration of the instrument into a complete airborne scanning system. The instrument makes use of the time-of-flight distance measurement principle of infrared nanosecond pulses. Fast opto-mechanical beam scanning provides absolutely linear, unidirectional and parallel scan lines. The instrument is extremely rugged, therefore ideally suited for the installation on aircraft. Also, it is compact and lightweight enough to be installed in small twin- or single-engine planes, helicopters or UAVs. The instrument needs only one power supply and GPS timing signals to provide online monitoring data while logging the precisely time-stamped and digitized echo signal data to the rugged RIEGL Data Recorder. Large Area / High Altidude Mapping Glacier & Snowfield Mapping Mapping of Lakesides & River Banks Topography & Mining Agriculture & Forestry Target Classification Corridor Mapping visit our website www.riegl.com LASER MEASUREMENT SYSTEMS Airborne Laser Scanning
Technical Data RIEGL LMS-Q78 Laser Product Classification Range Measurement Performance Class 3B Laser Product according to IEC685-1:7 The following clause applies for instruments delivered into the United States: Complies with 1 CFR 14.1 and 14.11 except for deviations pursuant to Laser Notice No. 5, dated June 4, 7. as a function of PRR and target reflectivity INVISIBLE LASER RADIATION AVOID EXPOSURE TO BEAM CLASS 3B LASER PRODUCT MAX. AVERAGE OUTPUT <4 mw PULSE DURATION APPROX. 3 ns WAVELENGTH 164 nm STANDARD IEC685-1:7 Laser Pulse Repetition Rate 1 khz khz 3 khz 4 khz 1) Max. Measurement Range natural target r ³ % 375 m 3 m 8 m 45 m natural target r ³ 6 % 54 m 47 m 41 m 37 m ) Max. Operating Flight Altitude AGL 35 m 6 m 3 m 5 m 1 ft 86 ft 75 ft 67 ft 3) NOHD 4 m 19 m 15 m 13 m 4) enohd 15 m 1 m 95 m 83 m 1) The following conditions are assumed: target is larger than the footprint of the laser beam average ambient brightness visibility 4 km moderate scan speed perpendicular angle of incidence ambiguity to be resolved by proper flight planning and multiple-time-around processing ) Reflectivity r ³ %, max. scan angle 6, additional roll angle +/- 5, MTA zone transitions not considered 3) Nominal Ocular Hazard Distance, based upon MPE according to IEC685-1:7, for single pulse condition 4) Extended Nominal Ocular Hazard Distance, based upon MPE according to IEC685-1:7, for single pulse condition Minimum Range 5) 6) Accuracy 5) 7) Precision 8) Laser Pulse Repetition Rate Effective Measurement Rate Laser Wavelength 9) Laser Beam Divergence Number of Targets per Pulse 5 m mm mm up to 4 khz up to 66 khz @ 6 scan angle near infrared.5 mrad digitized waveform processing: unlimited monitoring data output: first pulse 1) Scanner Performance Scanning Mechanism rotating polygon mirror Scan Pattern parallel scan lines Scan Angle Range ± 3 = 6 total Scan Speed 11) 14 - lines/sec 8) Angular Step Width D J D J ³.1 between consecutive laser shots Angle Measurement Resolution.1 Scan Sync Option for synchronizing scan lines to external timing signal 5) Standard deviation one sigma @ 5 m range under 8) User selectable RIEGL test conditions. 9).5 mrad correspond to 5 cm increase of beam width per 1 m distance 6) Accuracy is the degree of conformity of a measured 1) Practically limited only by the maximum data rate allowed for the RIEGL Data Recorder quantity to its actual (true) value. 11) Minimum scan speed increasing linearly to 53 lines/sec @ 4 Hz laser pulse repetition rate 7) Precision, also called reproducibility or repeatability, is the degree to which further measurements show the same result. Intensity Measurement For each echo signal, high-resolution 16-bit intensity information is provided which can be used for target discrimination and/or identification/classification. Data Interfaces Configuration Monitoring Data Output Digitized Data Output GPS-System General Technical Data Power Supply Current Consumption Main Dimensions (L x W x H) Weight Protection Class Max. Flight Altitude (operating) Max. Flight Altitude (not operating) Temperature Range Mounting of IMU-Sensor TCP/IP Ethernet (1/1 MBit), RS3 (19. kbd) TCP/IP Ethernet (1/1 MBit) High speed serial data link to RIEGL Data Recorder Serial RS3 interface, TTL input for 1pps synchronization pulse, accepts different data formats for GPS-time information 18-3 VDC approx. 7 A @ 4 VDC 48 x 1 x 79 mm approx. kg IP54 16 5 ft (5 m) above MSL 18 ft (5 5 m) above MSL C up to +4 C (operation) / -1 C up to +5 C (storage) Steel thread inserts on both sides of the laser scanner, rigidly connected to the inner structure of the scanning mechanism Preliminary Data Sheet
Echo Signal of the RIEGL LMS-Q78 The waveform digitization feature of the RIEGL LMS-Q78 enables the user to extract most comprehensive information from the echo signals. Figure 1 illustrates a measurement situation where 3 laser measurements are taken on different types of targets. The red pulses symbolize the laser signals travelling towards the target with the speed of light. When the signal interacts with the diffusely reflecting target surface, a fraction of the transmitted signal is reflected towards the laser instrument, indicated by the blue signals. Echo Signal 1 3 Laser Pulse Echo Signal Laser Pulse Echo Signal Laser Pulse In situation 1, the laser pulse hits the canopy first and causes three distinct echo pulses. A fraction of the laser pulse also hits the ground giving rise to another echo pulse. In situation, the laser beam is reflected from a flat surface at a small angle of incidence yielding an extended echo pulse width. In situation 3, the pulse is simply reflected by a flat surface at perpendicular incidence resulting in one single echo pulse with a shape identical to the transmitted laser pulse. Fig. 1 Echo signals resulting from different types of targets Echo Digitization of the RIEGL LMS-Q78 The upper line of the acquisition diagram shows the analog signals: the first (red) pulse relates to a fraction of the laser transmitter pulse, and the next 3 (blue) pulses correspond to the reflections by the branches of the tree; the last pulse corresponds to the ground reflection. This analog echo signal is sampled at constant time intervals (middle line) and is, in the following, analog-to-digital converted, resulting in a digital data stream (bottom line of the acquisition section). This data stream is stored in the RIEGL Data Recorder for subsequent off-line post processing, where the echo signals can be perfectly reconstructed and analyzed in detail to precisely derive target distance, pulse shape as an indicator for target type, and other parameters. Based upon RIEGL's long-standing expertise and experience in designing, manufacturing and marketing digitizing laser rangefinders for challenging industrial and surveying applications, and due to the careful design of the analog and digital front-end electronics, the LMS-Q78 records the complete information of the echo signal over a wide dynamic range. Thus, in postprocessing the signal can be perfectly reconstructed and analyzed in detail to precisely derive target distance, target type, and other parameters. Fig. Data acquisition and post processing 3
Multiple-time-around Data Acquisition and Processing In time-of-flight laser ranging a maximum unambiguous measurement range exists which is defined by the measurement repetition rate and the speed of light. When scanning at a pulse repetition rate of, e.g., 4 khz, measurement ranges above approx. 375 m are ambiguous caused by an effect known as Multiple-timearound (MTA). In such case target echoes received may not be associated with their preceding laser pulses emitted any longer (MTAzone 1), but have to be associated with their last but one (MTA-zone ), or even last but two laser pulses emitted (MTA-zone 3), in order to determine the true measurement range. Fig. 3 Profile of scan data processed in MTA zones 1 to 4 Figure 3 gives an impression of ALS data where each single echo of a scan line is associated with each of its last four preceding laser shots emitted. Each single echo is represented by a measurement range calculated in MTA zone 1,, 3 and 4 respectively, but only one of the four realizations represents the true point cloud model of the scanned earth surface. The chosen example shows scan data correctly allocated in MTA zone, where the earth surface appears more or less flat in contrast to the typical spatial characteristics of incorrectly calculated ambiguous ranges in MTA zones 1, 3 and 4. The RIEGL LMS-Q78 is capable of acquiring echo signals which arrive after a delay of more than one pulse repetition interval, thus allowing range measurements beyond the maximum unambiguous measurement range. Unique techniques in high-speed signal processing and a novel modulation scheme applied to the train of emitted laser pulses permit range measurements without any gaps at any distance within the instrument s maximum measurement range. The specific modulation scheme applied to the train of emitted laser pulses avoids a total loss of data at the transitions between MTA-zones and retains range measurement at approximately half the point density. Fig. 4 Flight altitude above ground level descending from 1, m to 4 m within 15 seconds The correct resolution of ambiguous echo ranges is accomplished using RiANALYZE in combination with the associated plugin RiMTA, which does not require any further user interaction, and maintains fast processing speed for mass data production. MTA One scan stripe transisting three MTA zones: yellow MTA1 blue MTA purple MTA3 4
Maximum Measurement Range & Point Density for RIEGL LMS-Q78 Max. Measurement Range [m] PRR = 4 khz 6 55 5 45 35 3 5 15 1 5 MTA 8 MTA 7 MTA 6 MTA 5 MTA 4 MTA @ visibility 4 km @ visibility 3 km @ visibility 15 km dry asphalt wet ice terra cotta coniferious trees 5 1 15 5 3 35 4 45 5 55 6 65 7 75 8 Target Reflectivity [%] deciduous trees cliffs, sand, masonry dry snow white plaster work, limestone [m] [ft] 48 44 36 3 8 4 16 1 8 4 Operating Flight Altitude AGL 15 1 13 1 11 1 9 8 7 6 5 3 1 PRR = 4 khz Point Density [pts/m ] 18 16 14 1 1 8 6 4 Flight Altitude AGL 7 ft (8 m) 33 ft (11 m) ft (1 m) 5 ft (15 m) 67 ft (4 m) 7 ft 33 ft ft 5 ft 67 ft 3 4 5 6 7 8 9 1 11 1 Speed [kn] 95 m 116 m 141 m 176 m 36 m FOV 6 Altitude AGL Example: Q78 at 4, pulses/second Altitude = 33ft AGL, Speed = 8 kn Resulting Point Density ~ 6 pts/m² Max. Measurement Range [m] PRR = 3 khz 6 55 5 45 35 3 5 15 1 5 MTA 8 MTA 7 MTA 6 MTA 5 MTA 4 MTA @ visibility 4 km @ visibility 3 km @ visibility 15 km dry asphalt wet ice terra cotta coniferious trees 5 1 15 5 3 35 4 45 5 55 6 65 7 75 8 deciduous trees Target Reflectivity [%] cliffs, sand, masonry dry snow white plaster work, limestone [m] [ft] 48 44 36 3 8 4 16 1 8 4 Operating Flight Altitude AGL 15 1 13 1 11 1 9 8 7 6 5 3 1 PRR = 3 khz Point Density [pts/m ] 18 16 14 1 1 8 6 4 31 ft 36 ft 45 ft 57 ft 75 ft Flight Altitude AGL 31 ft (945 m) 36 ft (11 m) 45 ft (137 m) 57 ft (174 m) 75 ft (9 m) 19 m 17 m 158 m 1 m 64 m 3 4 5 6 7 8 9 1 11 1 Speed [kn] FOV 6 Altitude AGL Example: Q78 at 3, pulses/second Altitude = 31ft AGL, Speed = 8 kn Resulting Point Density ~ 4 pts/m² The following conditions are assumed for the Operating Flight Altitude AGL ambiguity resolved by multiple-time-around (MTA) processing & flight planning target size ³ laser footprint scan angle 6 average ambient brightness roll angle +/-5 5
Maximum Measurement Range & Point Density for RIEGL LMS-Q78 Max. Measurement Range [m] PRR = khz 6 55 5 45 35 3 5 15 1 5 MTA 8 MTA 7 MTA 6 MTA 5 MTA 4 MTA @ visibility 4 km @ visibility 3 km @ visibility 15 km dry asphalt wet ice terra cotta coniferious trees 5 1 15 5 3 35 4 45 5 55 6 65 7 75 8 deciduous trees Target Reflectivity [%] cliffs, sand, masonry dry snow white plaster work, limestone [m] [ft] 48 44 36 3 8 4 16 1 8 4 Operating Flight Altitude AGL 15 1 13 1 11 1 9 8 7 6 5 3 1 Point Density [pts/m ] PRR = khz 4 3,5 3,5 1,5 1,5 39 ft 45 ft 55 ft 68 ft 86 ft Flight Altitude AGL 39 ft (119 m) 45 ft (137 m) 55 ft (168 m) 68 ft (7 m) 86 ft (6 m) Speed [kn] 137 m 158 m 194 m 39 m 33 m 4 5 6 7 8 9 1 11 1 13 14 FOV 6 Altitude AGL Example: Q78 at, pulses/second Altitude = 68ft AGL, Speed = 1 kn Resulting Point Density ~ 1 pt/m² Max. Measurement Range [m] 6 55 5 45 35 3 5 15 1 5 PRR = 1 khz MTA 4 MTA dry asphalt wet ice terra cotta coniferious trees 5 1 15 5 3 35 4 45 5 55 6 65 7 75 8 Target Reflectivity [%] deciduous trees cliffs, sand, masonry dry snow white plaster work, limestone [m] [ft] 48 44 36 3 8 4 16 1 8 4 Operating Flight Altitude AGL 15 1 13 1 11 1 9 8 7 6 5 3 1 Point Density [pts/m ] PRR = 1 khz 1,6 1,4 1, 1,8,6,4, 49 ft 57 ft 68 ft 8 ft 1 ft Flight Altitude AGL 49 ft (149 m) 57 ft (174 m) 68 ft (7 m) 8 ft (5 m) 1 ft (35 m) 4 5 6 7 8 9 1 11 1 13 14 Speed [kn] 17 m 1 m 39 m 89 m 35 m FOV 6 Altitude AGL Example: Q78 at 1, pulses/second Altitude = 8ft AGL, Speed = 1 kn Resulting Point Density ~,5 pt/m² The following conditions are assumed for the Operating Flight Altitude AGL ambiguity resolved by multiple-time-around (MTA) processing & flight planning target size ³ laser footprint scan angle 6 average ambient brightness roll angle +/-5 6
1 59 48 419.5 75 95.5 161.5 14.5 156 156 81.5 196 11.8 5 rear view Dimensional Drawings RIEGL LMS-Q78 data interface power interface laser on indicator interface for laser safety box bottom view side view top view laser on indicator 3 x M8 threads, depth 9 mm beam aperture window 3 x M8 threads, depth 9 mm 11.75 8 1 13 3 3 1 11 cooling fan front view 79 desiccant cartridge nitrogen valve +3 desiccant cartridge -3 55 11.75 all dimensions in mm origin of scanner s local coordinate system Preliminary Data Sheet 7
LASER MEASUREMENT SYSTEMS Information contained herein is believed to be accurate and reliable. However, no responsibility is assumed by RIEGL for its use. Technical data are subject to change without notice. RIEGL Laser Measurement Systems GmbH, 358 Horn, Austria Tel.: +43-98-411, Fax: +43-98-41, E-mail: office@riegl.co.at RIEGL USA Inc., Orlando, Florida 3819, USA Tel.: +1-47-48-997, Fax: +1-47-48-636, E-mail: info@rieglusa.com RIEGL Japan Ltd., Tokyo 16413, Japan Tel.: +81-3-338-734, Fax: +81-3-338-5843, E-mail: info@riegl-japan.co.jp www.riegl.com Preliminary Data Sheet, LMS-Q78, 4/1/1