Integration of ILRIS-3D

with LANDINS INS

for Mobile Mapping Applications

Sun W. Kim / Stéphane Loeul

Geomonitoring Inc. / IXSEA
 Equipment - GPS

… GPS : Trimble 5700 (Base, Rover)

… 24 Channels L1 C/A Code

… L1/L2 Full Cycle Carrier

… Static Surveying Accuracy

- Horizontal : +-5 mm + 0.5 ppm RMS

- Vertical : +-5 mm + 1 ppm RMS

… Kinematic Surveying Accuracy

- Horizontal : +-10 mm + 1 ppm RMS

- Vertical : +-20 mm + 1 ppm RMS

 Equipment – LiDAR

… Terrestrial LiDAR : ILRIS-HD 1 set (Optech)

… Range : 400 m (10% Reflectivity) - 1200 m (80% Reflectivity)
… Scan Rate : 10,000 points/sec
… Range Accuracy : 7 mm @ 100 m
… Field of View : 40 x 40 degree
… Laser Wave Length : 1535 nm
 Equipment– Total Station

… Total Station : Leica TCRP1201 - 1 set

… Angle Accuracy : 1 arc second

… Range Accuracy : 2 mm + 2 ppm

… Calibration Building Surveying

 CHOICE OF THE INS

Criteria

… Performance

… Easy to integrate

… Easy to use

… Easy to import /export

… Multi-platform (portable)
 Equipment – INS

… INS: LANDINS 1 set (Manufactured by IXSEA)

IXSEA FOG IMU
• High-grade Fiber Optic Gyroscopes
• High-grade Accelerometers

Most LANDINS
INS/GPS

Low to medium-grade High-grade Space technology

1°/Hr class 0,05°/Hr class IMU sensor perf

… High Grade IMU – Improved Heading Accuracy

Maintain Accuracy while GPS Outage
 Performance - INS

… INS: Accuracy

Independant
from type of GP
S
0.3

0.5

… Accuracy during GPS Outage

 Landins: a fully integrated system

IMU sensors
• Fiber Optic Gyroscopes
• Accelerometers

Real-time compute GPS

r L1/L2, Glonass, Omnistar, RTK
X, Y, Z, Synchronization (PPS)
Heading, Roll, Pitch

DMI Interface
Handles odometer pulses

Data logging
IMU raw data,
I/Os
Serial ports
INS (position / attitude)
Ethernet
GPS (position, pseudoranges)
USB
GPS antenna
 LANDINS: Easy integration
INPUTS
interfaces OUTPUTS
interfaces

2x serial RS232 / RS422 (GPS, DMI) 2x serial RS232 / RS422

1x serial RS232 (Radio corrections if available) 1x serial RS232 (GPS)

Ethernet 100 Mbits Ethernet 100 Mbits

- 5 logical ports - 5 logical ports (totally flexible)
- Configuration - Monitoring
- Ftp/http access - Data output

3x pulses in: Event markers 2x pulses out

-1000 Hz, - sensors triggering
-100 µs time-stamping
PPS Out (embedded GPS)
PPS In
USB port
- Real-time data recording
- Data transfer

Time Sync of all data: GPS pulse (PPS)

 LANDINS: An open system

• Direct use of NMEA frame from GPS receiver (internal or external)

• Fully compatible with any type of GPS receiver

(any brand, any type, in any mode) => flexible and scalable

• GPS, SBAS, WAAS, EGNOS, MSAS, GLONASS, GALILEO, DGPS, LRK, RTK, …

• Works with Omnistar VBS HP, XP or others provided service is subscribed

• Always compatible with the latest technology developments (L5, VRS, NTRIP,….)

⇒ Allowed us to use our TRIMBLE 5700 GPS / 1 antenna only GPS receiver
⇒ Allows to use any GPS post-processing software
⇒ Allows to integrate position fixes in post-processing
 LANDINS: Exportable

- IXSEA operates on an European General Export Authorisation EU 006/23

7
- Dual-use good (was not developed for military, no ITAR restriction)

=> ‘Free’ export from France to:

=> EU countries + Norway and Switzerland
=> Australia, Japan, New-Zealand
=> Canada, USA.

=> ‘Commercial type’’ export license for South Korea (3 weeks)

⇒ Short repair turn-around time (if needed !)

Multi-platform system (pre-calibrated)

ILRIS-HD GPS Antenna

INS (LANDINS)

DMI (Aka Odometer)

 Multi-platform system (pre-calibrated)

… Installation on a boat

GPS Antenna

IMU
Camera

ILRIS-HD
 Work Flow

Data Acquisition Planning Calibration

Installation Cal. Parameter

GPS Base Station Setup Re-compute Points

Data Acquisition 3D Modeling

GPS Processing Color Image Overlay

INS / IMU
Movie
Processing

LiDAR Point Parsing

System Calibration

GPS antenna ILRIS-HD

LANDINS

… Lever Arm : Direct Measurement using Vernier Calipus

(GPS Antenna, IMU Center, LiDAR Center, DMI)

… DMI calibration routine (scale factor and misalignment)

… Misalignment : Iterative Adjustment Using Control Points

 Data Acquisition

… System Initialization
 Data Acquisition

… Data Logging Directory Setup

 Data Acquisition

… Initial Fine Alignment

 Data Acquisition

… System Ready
 Data Acquisition

… LiDAR Data Acquisition

 Data Acquisition

… LiDAR Data Acquisition

Data Post Processing – GPS
 Data Post Processing – GPS

… GPS Trajectory
 Data Processing – IMU

… PostProcessing_IXSEA
 Data Processing – LiDAR

… ILRIS Parser
 Data Processing – LiDAR

… Compute Absolute (X, Y, Z) coordinates

 System Calibration

… Un-Calibrated Data (Leaning Building)

 System Calibration

… Heading Misalignment Angle – Green (Control) Red (LiDAR)

 System Calibration

… Roll Misalignment Angle – Green (Control) Red (LiDAR)

 System Calibration

… Pitch Misalignment Angle – Green (Control) Red (LiDAR)

 System Calibration – Final Value

… Lever Arm (m)

X : -0.051

Y : 0.499

Z : 0.073

… Misalignment

Angle (degree)

Roll : -5.100

Pitch : 0.221

Heading : 89.650
 System Calibration

… Yellow : Before Calibration Grey : After Calibration

 System Calibration – Accuracy

Standard
Average
Deviation

dX 0.020 0.056

dY -0.026 0.036

dZ -0.016 0.055

3D 0.082 0.044
Distance
 Conclusion

… Easy job but attention to details is key

… Mobile platform and marine platform integrated