Professional Documents
Culture Documents
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Amar Nayegandhi
ETI US Geological Survey, Florida Integrated Science Center, St.
Petersburg, FL 33701.
anayegandhi@usgs.gov
U.S. Department of the Interior
U.S. Geological Survey
Acknowledgments
Lidar Definition
LIDAR (Light Detection and Ranging) is an
dist = t2way / 2 * c
1.
2.
3.
Inertial System
4.
http://en.wikipedia.org/lidar
http://en.wikipedia.org/lidar
Pulsed Lasers
Most commonly used for ranging applications
Consists of a pulsed laser transmitter, an optical telescope
Operating Wavelengths
Green Wavelength
Used by all airborne bathymetric and topo-bathy systems
Nd:YAG IR laser output is frequency doubled to produce output
at 532 nm
Can penetrate water
First-return lidars
measure the distance
to the first target
encountered by the
laser pulse
Lefsky
Two-stop lidars
measure the distance
to the first and last
targets encountered
by the
laser pulse
Multi-Stop lidars
measure the
distances
to multiple targets
(n < 5)
encountered by the
laser pulse
Base image
courtesy M. Lefsky
Canopy
Ground
Returned
Backscatter
Short Duration
Laser Pulse
Digitized
Backscatter
Waveform
Discrete
Return
LeadingEdge
Pulse- Photon
Width Counting
Dead
zone
2nd
Multiple Returns
Range Walk
Leading Edge
Discrimination
Separability of
Targets in Range
Error Source 1:
Enabling Technologies:
Aircraft Position and Attitude
Determination
Lidar Transmitter,
Scanner, and Receiver
Aircraft Positioning
Differential GPS (with
post-processing)
Space Segment
24 satellites that orbit the earth 20,200km above the earth
2. Control Segment
Comprises MCS (in Colorado) and 4 other tracking stations
User Segment
GPS receivers
The receiver identifies each satellite's signal by its
Description
Positional
accuracy
Single
Frequency
8 20 m
Differential GPS
13m
Satellite-based
Augmentation
Systems
13m
Precise phase
interferometry
processing
Up to 10 cm
Network
Differential GPS
Improves
accuracy
Total Error
0.1 0.5
(Maune, 2001)
GPS
Ground Station
Clear Horizon
Base Station at
Staging Airport
Planning Considerations
Error Source 2:
orthogonal triad
Measures the local gravity vector, acceleration vector, and
angular rate vector experienced by IMU
Typical sampling rate = 200 Hz
Planning Considerations
GPS planning as discussed earlier
Inertial Navigator alignment
Stationary ground alignment
In-flight alignment
Quality Control
Needs to be combined with lidar data for
QA/QC
Error Source 3:
If properly calibrated:
Boresight Calibration
Good
RollBias
BiasValues
Bad Roll
Boresight Calibration
This Hanger was
Surveyed By 2
Overpasses at 90o
30.00
RMSE (cm)
25.00
20.00
15.00
10.00
5.00
3.5
0.00
2.4
3.75
Swath Edge
Swath Edge
Nadir
Sc 15.00
an
30.00
An
gle
45.00
()
2.0
1.3
O
PD
From Reflections to
Information:
Lidar Data Processing
Calibration
and mounting
parameters
Lidar range
Scan Angles
Sorting, Merging
and Filtering
Coordinate /
Datum
Conversion
Rasterizing
(Gridding)
20 m
-2 m
Canopy
Topography
Bare-Earth
Topography
Error Source 4:
Vegetation noise
Bare Earth under short grasses are much harder
Vertical Datums
Error Source # 5:
Datum / Coordinate Conversion
Errors
Error Budget
1.
2.
3.
4.
5.
6.
7.
Error Budget
Expect the overall vertical accuracy to be about
15 cm (6 inches)
Expect the overall horizontal accuracy to be
sub-meter.
There are ways to improve this accuracy:
Multiple base stations in study area
GPS / IMU post-processing
Boresight calibration
A few high-accurate GPS ground control
points can help reduce offsets
$300!!!!!
Direct access to Terra Server Imagery
Excellent support service
applications)
Google Earth
Amar Nayegandhi
Thank you.