ES1075035U - Aerotransported device (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Airborne lidar device, characterized by the integration of a global satellite positioning system (figure 4), an inertial navigation system, a laser emitter-receiver (figure 1) and a photographic camera (figure 3). The gps (figure 4) records the position and the exact time, while the uet (figure 5) takes the data of any movement from the inertial sensor and leaves it recorded. The laser records the angle and distance of each pulse and the camera (figure 3) takes vertical images at planned intervals. by means of subsequent calculation, the external orientation parameters and the georeferencing of the data are obtained. The information obtained is processed on a computer to obtain the desired results. (Machine-translation by Google Translate, not legally binding)

Description

Airborne lidar device.

Object of the invention

The present device consists of a sensor Airborne, very small in size, which allows navigation inertial and aerial photography and laser points by scanning. The results obtained through this device are several: restitution vector mapping, high orthophotos resolution, digital terrain model (MDT onwards) and model digital surfaces (MDS onwards). Thanks to their reduced dimensions and weight, it is possible to transport and adapt the device with ease to any means of air transport.

The device object of the invention is composed of several teams from different manufacturers, however, the integration of these is part of an R&D project developed by AEROLASER SYSTEM S.L.

Background of the invention

According to the book " MODERN PHOTOGRAMETRY: ANALYTICAL AND DIGITAL " by José Luis Lerma García ^ {1} , it can be said that photogrammetry is in a transition process, in which, it has been passed from photogrammetry based on conventional photographs to digital photographs, that is, digital photogrammetry.

One of the techniques for the realization of Aerial photogrammetry is GPS / INS aerotriangulation, this allows greatly reduce the support points needed to aerotriangular an area. The purpose of including a GPS and a unit IMU in a means of air transport, is to obtain support points aerial, external orientation and georeferencing of sensors at the time of shooting. The precision of this technique is less than a decimeter

In the current market there are devices airborne carrying out the photogrammetry technique digital achieving excellent results, however, its high weight and its large dimensions, are an inconvenience both economic and Logistic when making takes data in different regions. The device described in this document, differs from others appliances in which it has been specifically designed to fit a certified helicopter box, so that, transportation of this do not suppose the inconveniences described above.

Description of the invention

The Lidar Airborne device gets, both digital terrain models (hereinafter MDT) and cartography of a certain area, through the use of a system Global precise satellite positioning, in combination with an inertial navigation system, a laser emitter-receiver and a camera. From this way, precise georeferencing of points is achieved lasers and photographs, with the advantage of reducing the amount of necessary support points that aerial photogrammetry requires classic

Before starting the description, it is convenient to mention the elements that make up the device, these are:

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Laser scanner Figure 1: Perform laser shots and calculates the distance (with an error of ± 2 cm + 2 parts per million) existing between its issuer and the object on which it is projected. Thanks to this, you can get a High resolution MDT.

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Motion sensor Figure 2: measurement of the turns and accelerations in the three axes of coordinates

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Digital camera Figure 3: High resolution digital aerial photography.

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GPS: geographical positioning accurate in differential mode.

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Time stamping unit (in Forward (JET): This element is the interface between: the sensor movement, camera, GPS and computer.

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Power and control unit (UPC) Figure 6: PPS signal duplicator obtained from GPS and equipment feeding.

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Computer: planning and Flight control, data storage and calculation.

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Peripherals Figure 8: use of screens for PC control and navigation pilot.

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Mounting structure of transport: device airborne.

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The integration of these elements allows get the mapping and the MDT of an area, for this, it fly over a preset height and speed over the region desired, so that the device object of this document takes profiles and surface photographs.

During the flight, a GPS records the position and the exact time 2 times per second, in addition, the UET takes from the sensor inertial data corresponding to the yaw movement, warping, pitching, vertical, longitudinal acceleration on the X axis and longitudinal on the Y axis of the device, so that any This movement is registered. With this, you get the external orientation parameters and the georeferencing of data taken by the device. Finally, the information collected is processed on a computer and the model is obtained digital terrain (MDT), along with vector mapping of restitution, high resolution orthophotos and digital model of surfaces (MDS).

Brief description of the drawings

To facilitate the understanding of the description made in this report, attached some drawings that represent the different elements that make up the device object of this written.

In Figure 1, you can see the views in lower floor and left profile of the laser scanner, in which you can see its window 2, its different connections (3, 4 and 5) and anchor points 1.

Figure 2 shows the motion sensor as well as its connection port 6 in the left profile and its points of anchor on the lower floor 7.

Figure 3 presents the profile view left of the digital camera. In it you can contemplate its connection terminals 8, 9 and 10.

It shows the precise positioning unit (Differential GPS, antenna and electronic notebook), where you can see the connections of said elements (11 to 16).

The structure shows, the connections of the Time Stamping Unit (hereinafter UET) (17 to 23) and points anchor 24 on the lower floor.

Figure 6 shows the connections of the Power and Control Unit (hereinafter UPC). Your connections are found in the left profile 25, 26, in the right profile 27.

It shows the elevation of the PC and in it you can See its connection ports (28 to 34).

Figure 8 shows the screens of display-control of device 35 and 36.

It shows the certified box where the device when helicopter flights are made. Your connections (37 to 42) are on the right side.

It shows the platform with its holes anchor (45 to 50) where all the elements of the device.

Figure 11 shows the mounted device on the platform.

Description of the mounting method

The device is mounted inside a box certified () for this type of transport; this box has six connectors (37, 38, 39, 40, 41 and 42) that allow the connection of the device to the power supply network of helicopter 37, laser supply 38, to display element 40 - control 39, to the gate control control 42 and to the antenna GPS signal reception 41 that is installed in the queue of the helicopter that carries it.

On the lower floor of the box are two holes (43 and 44) that allow scanning to be carried out by part of the laser scanner Figure 1 and photographs by the camera Figure 3. The device houses a gate electromechanics controlled from the cockpit of the helicopter that protects the inside of the box of external agents.

Inside the box, the elements are fixed on an iron that provides robustness, in addition to a flat surface necessary for the correct leveling of the laser, the sensor Figure 2 movement and the camera. The platform is eighteen holes (numbers 45 to 50), which six are for anchoring of the laser 45, four for anchoring the camera holder 47, four for fixing the platform in box 46, two for allow direct vision of the area to be modeled to laser 49 and the camera 48, two to fix the computer and GPS 50.

The location of the elements on the platform It can be seen in Figure 11. On the left side of this image there is a semi-cylindrical figure that corresponds to the laser, the which, the UET has on its floor and next to it is a cube corresponding to the motion sensor Figure 2. In the part right front of the image 3 elements are observed, the computer, the GPS and the UPC Figure 6, these are anchored to the platform with two screws and a plastic clamp.

Finally, on the right background of the image you see the camera attached to a support that is anchored to the platform with 4 screws, so that the camera lens fits the hole intended for her.

The Figure 8 display and control screen they are fixed inside the helicopter in a way accessible to the pilot and to the technician in charge of supervising the operation of the device purpose of this document.

Claims (1)

1. Airborne lidar device, characterized by the integration of a global precise satellite positioning system (Figure 4), an inertial navigation system, a laser transmitter-receiver (Figure 1) and a camera (Figure 3). The GPS (figure 4) records the exact position and time, while the UET (Figure 5) takes the data of any movement from the inertial sensor and records it. The laser records the angle and distance of each pulse and the camera (Figure 3) takes vertical images at planned intervals. By subsequent calculation, the external orientation parameters and the georeferencing of the data are obtained. The information obtained is processed on a computer to obtain the desired results.