International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B2. Istanbul 2004
Finally AeroTopoL recalculates missing Comeratenter conr eee
values and gives a computed accuracy in
position and heights as well as the number of
strips and photos. Some values can be [= Ee roe For:
changed and aeroTopol computes always the
new set of parameters. Now AeroTopoL
computes the strips with the snap-points for
the camera. This result is displayed on the
map and can be modified. The covered Aera
of single or more photos can be displayed,
the tracks and photos can be shifted, new
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tracks or photos added or deleted or &
additional photos inserted. There can be
entered an average height of the terrain or a
digital terrain model. Especially the last one
can provide a better planning and a control
of the effective coverage also during the
flight. If theses procedures are done, the
planning will be saved for the navigation,
can be printed in selected scale or exported
for other systems. m Li
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Figure 2: The screen during the flight-
campaign in AeroTopoL photofly
APPLICATION FOR AERIAL IMAGING FLY:
The heart of the entire system is the Soft- and Hardware
Solution for the plane. Besides the Software, which is
running on a cockpit-PC, specific avionic technology have to
be implemented.
The hardware consists of an intelligent board, which
synchronizes GPS-Data and the output of an INS. The GPS
can be either a fast tracking c/a L1 board with carrier-phase
smoothing, which runs with 5 Hz and gets dynamic results in
combination with Egnos of typically 0,5 m. There exists also
the possibility, to integrate an RTK-system which has an fast
NMEA output but besides an internal Flash connected with
an event-in connector to store L1/L2 raw-data for a post
processing with a final accuracy of « 10 cm. The INS , here
we used a PFD 2525, delivers a resolution of 0,1? in for the
roll, pitch and heading-rotations, the integrated Kalman-filter
uses the calibrated gyro-data, acceleration-data, airspeed,
barometric height and fluxgate data to compute a very stabile
result of even better than 0,3? during a complete days work.
This INS is placed on the same platform like the camera or
on the cameras back. The platform itself don't has to be
stabilized, but we also have already under construction such a
stabilized mount which keeps the rotation angles (roll, pitch
and heading) under controll.
The binary data string from the INS, incoming with 8,33 Hz,
is connected to the Trimus-K+ Aero, which contains the
GPS, has got 8 other analogue inputs and synchronized all
data to one new NMEA-string by the frequency of the GPS.
This data can be used for navigation and for photogrammetric
initialization as well. Logging-function, initialization-
functionality and GPS technology by request can be provided
in this system very flexible. The complete track can be
logged as a redundant data-management beside the cockpit-
computer as well. If an already existing GPS-INS System is
on board, also this data can be used instead of the Trimus-K+
Aero.
The cockpit-computer is in fact nothing special, also
notebooks can be used for this purpose. Usually we built in a
aluminum box together with the other electronic components
an embedded industrial PC, which has got a separate
keyboard, trackball-mouse and a suitable TFT-display. The
main advantages of such computers are the power-connection
(12-24 Volts), the separate daylight-visible monitors and the
shock-mounted hard disk. A back-up batteries provides
against broken power-connection and higher voltage
impulses. Especially the display is an important part. It
should be visible even under daylight conditions, sniall to be
mounted in the cockpit besides other instruments, good in
view to the pilot and with most high resolution to display all
data with high contrast and sharp. The size is between 6,4"
and 12 “, VGA and XGA resolution and typically 400
candela.
The system is able to support any camera type with external
electric or mechanical shutter. The camera will be connected
to a switch-box on the second serial port (or the spitted out
TDX of the first one), where the shutter-signal comes as an
impulse from the software. With a magnetic switch nearly
any Camera can be controlled.
The software is based on TopoL-NT Technology and uses the
data of the preplanning Tool. The area, the flight axes (track)
and the photo centers are already defined as well as the flight-
altitude. We have to define now minimum (inner) and
maximum (outer) snap-radius around the points. The
software guides now the plane to the area and exactly to the
tracks. At the serial port from the sensors are coming with 5
Hz the information about the 3d-position, the heading and the
roll and pitch values and other data. Coordinate-
transformation is provided by the software. Instruments
placed inside the software show the pilot an artificial horizon,
a track-guidance with the offset parameters and the heading
and also a goal-assistance to catch the snap-point in 3d.
Besides these 3 instruments the pilot sees the plane over the
raster and vector data and the view of the camera on the
ground as a photo frame (rectangle or trapezoid) using the
rotation-parameters as well. If the outer snap radius is
reached, the system is enabled to make the photo and tries to
come most near to the inner snap-radius. If the computed
distance starts to become bigger, the system makes the image
while the software gives an impulse to the parallel port where
the camera is connected. The camera takes the picture and
gives itself an impulse to the sensor, which informs the
software again to store the data (v, x, z, roll, pitch and yaw)
and the photo frame on the monitor. If all images are taken,
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