Transcript
Dual Channel Waveform Processing Airborne LiDAR Scanning System for High Point Density and Ultra Wide Area Mapping
RIEGL VQ-1560i • high laser pulse repetition rate: up to 2 MHz • up to 1.33 million measurements per second on the ground • offers data acquisition at a wide range of point densities • two waveform processing lidar channels offering excellent multiple target detection capability • enables Multiple-Time-Around (MTA) processing of up to 20 pulses simultaneously in the air • offers online waveform processing as well as smart and full waveform recording • integrated inertial measurement unit and GNSS receiver • integrated, easily accessible medium format camera • prepared for integration of a secondary camera • high speed fiber data interface to RIEGL data recorder • mounting flange for interfacing with typical hatches and stabilized platforms an a n • detachable h handgrips for and ndling liling ng facilitated handling
The new ultra high performance, fully integrated and calibrated Dual Channel Airborne Mapping System RIEGL VQ-1560i makes use of RIEGL‘s sophisticated waveform processing LiDAR technology enabling an excellent multiple-target detection capability and Multiple-Time-Around (MTA) processing. The system is capable of online waveform processing as well as full or smart waveform recording, resulting in unsurpassed information content on each single target. The new VQ-1560i provides a laser pulse repetition rate of up to 2 MHz resulting in more than 1.3 million measurements per second on the ground and operates at an altitude of up to 15,500 ft. That allows operation at varying flight altitudes resulting in a wide range of point densities. Thus, the system is ideally suited for aerial survey of ultra wide areas as well as of complex urban environments. By the way, faster and more efficient flight planning and safer flights are enabled. The RIEGL VQ-1560i comes with a unique and innovative forward/ backward looking capability. This enables capturing data from multiple angles more effectively and more accurately at high point density. With its large field of view of 58 degrees and its widely variable scan parameters the system enables highly efficient scan data acquisition. The system is equipped with a seamlessly integrated high performance IMU/GNSS system. An 100 megapixel RBG camera and the capability to integrate a secondary IR camera complete the system. All individual components are integrated into a compact design and equipped with a mounting flange for simple interfacing with typical hatches or gyro-stabilized leveling mounts.
Applications: • Ultra Wide Area / High Altitude Mapping • High Point Density Mapping • Mapping of Complex Urban Environments • Glacier & Snowfield Mapping • City Modeling • Mapping of Lakesides & River Banks • Agriculture & Forestry • Corridor Mapping
visit our website com www.riegl.com
Airborne Laser Scanning
Preliminary Data Sheet
RIEGL VQ-1560i Scan Pattern
58° effective FOV
28°
Each channel delivers straight parallel scan lines. The scan lines of the two channels are tilted against each other by 28 degrees providing an optimum distribution of the measurements on the ground invariant to changes in terrain height. Tilt Angle of Scan Lines Forward/Backward Look in Non-Nadir Direction
+/- 14° +/-8° at the edges
RIEGL VQ-1560i Elements of Function and Operation
mounting flange aperture of primary camera (RGB) aperture of laser channel #2
bay for IMU
aperture of laser channel #1 aperture of secondary camera
connectors for power supply and data interface
desiccant cartridges
2
cooling air outlets carrying handles
Preliminary Data Sheet
RIEGL VQ-1560i Main Dimensions
all dimensions in mm
Preliminary Data Sheet
3
RIEGL VQ-1560i System
GNSS antenna
high speed interface LAN interface - flight guidance LAN interface - system control
control for gyro-stabilized mount
laser safety switch
laser saf safety switch
RIEGL DR1560
RIEGL VQ-1560i pilot display flight guidance
gyro-stabilized mount GSM-4000
operator working station
A minimum number of system components and external cabling is required for easy and quick installation in aircrafts.
RIEGL VQ-1560i Installation Examples
RIEGL VQ-1560i installed in the nose pod of fixed-wing aircraft DA42 MPP
4
RIEGL VQ-1560i installed on GSM-4000 gyro-stabilized platform to be used in a helicopter or fixed-wing aircraft
Preliminary Data Sheet
Measurement Range & Point Density RIEGL VQ-1560i
@ visibility 40 km @ visibility 23 km @ visibility 15 km
6000 5500 MTA 6
>IW@
5200
17000
4800
16000
4
1.1
15000
5800 ft (1770 m) 7400 ft (2260 m) 9300 ft (2830 m) 11800 ft (3600 m) 15000 ft (4570 m)
4400 14000
5000
4000
3
13000
3000 ENOHD
2400
2500 MTA 3
2000
2000
1600
40
0 0
5
10
15
20
25
30
45
50
55
60
GU\VQRZ
35
GHFLGXRXVWUHHV
FRQLIHULRXVWUHHV
ZHWLFH
500 MTA 1
WHUUDFRWWD
GU\DVSKDOW
1000
FOLIIVVDQGPDVRQU\
1500 MTA 2
65
70
75
58°
1200
9000
200
2.5
8000 7000 6000 5000
580
2
740 1.5
930 118
1
4000
150
175
1.0
6ZDWK:LGWK
10000
3RLQW'HQVLW\>SWVP2@
2800
2SHUDWLQJ)OLJKW$OWLWXGH$*/
3200
3500 MTA 4
)29
0.9
11000
4000
1980 m 2530 m 3180 m 4030 m 5120 m
12000
3600
ZKLWHSODVWHUZRUNOLPHVWRQH
0D[0HDVXUHPHQW5DQJH>P@
4500 MTA 5
150
Flight Altitude AGL Swath Width 3.5
0.8
0 ft
0 ft
0.7
0 ft 0.6
00 ft
00 ft
0.5
2000
400
650 800 1000 1200 1500
0.4
400
320
500
0.5
3000
800
250
$UHD$FTXLVLWLRQ5DWH>NPðK@
MTA 7
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
>P@
6500
)OLJKW $OWLWXGH$*/
PRR = 2x150 kHz, laser power level 100%
0.3
1000 0
0
80
50
70
90
110
130
150
170
190
6SHHG>NQ@
7DUJHW5HÀHFWLYLW\>@
Example: VQ-1560i at 2 x 150,000 pulses/sec, laser power level 100% Altitude = 15,000 ft AGL, Speed = 150 kn
Results: Point Density ~ 0.51 pts/m² Spatial Sampling Frequency ~ 0.40 pts/m Area Acquisition Rate ~ 1130 km²/h
PRR = 2x250 kHz, laser power level 100%
>P@ >IW@
4400 4000
3000
2400 MTA 5 2000
ENOHD
MTA 4
1600
0 0
5
10
15
20
25
30
35
40
45
50
55
60
GU\VQRZ
FOLIIVVDQGPDVRQU\
GHFLGXRXVWUHHV
MTA 1
ZHWLFH
500
WHUUDFRWWD
MTA 2 GU\DVSKDOW
1000
FRQLIHULRXVWUHHV
1500 MTA 3
65
70
75
1500 m 1980 m 2560 m 3380 m 4410 m
)29 58°
1.6 120
1.5 140
6ZDWK:LGWK
1.4
11000 6
1200
10000 1.3
9000 8000 7000 6000 5000
5
3RLQW'HQVLW\>SWVP2@
MTA 6
7
12000
2SHUDWLQJ)OLJKW$OWLWXGH$*/
2800
ZKLWHSODVWHUZRUNOLPHVWRQH
0D[0HDVXUHPHQW5DQJH>P@
3200
3500
4400 ft (1340 m) 5800 ft (1770 m) 7500 ft (2290 m) 9900 ft (3020 m) 12900 ft (3930 m)
13000
3600
4000 MTA 7
2000
Flight Altitude AGL Swath Width 8
14000
4500 MTA 8
2500
15000
440 4
580
2
129
3000
400
1.1 1.0
0 ft
990
2000
0 ft
0 ft
750
3
4000
800
1.2
250
320
0.9 400
0 ft
0.8
00 ft
500
0.7
650 800 1000 1200 1500
0.6
1
0.5 0.4
1000
0
180
$UHD$FTXLVLWLRQ5DWH>NPðK@
@ visibility 40 km @ visibility 23 km @ visibility 15 km
MTA 9 5000
9
16000
MTA 10 5500
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
4800
)OLJKW $OWLWXGH$*/
6000
0
80
50
70
90
110
7DUJHW5HÀHFWLYLW\>@
130
150
170
190
6SHHG>NQ@
Example: VQ-1560i at 2 x 250,000 pulses/sec, laser power level 100% Altitude = 12,900 ft AGL, Speed = 145 kn
Results: Point Density ~ 1.01 pts/m² Spatial Sampling Frequency ~ 0.56 pts/m Area Acquisition Rate ~ 950 km²/h
PRR = 2x350 kHz, laser power level 100%
>P@ >IW@
4000 MTA 10
11000 3200 10000 10
2400 MTA 7
2500
2000
MTA 6
1600
1500 MTA 4
1200
0 0
5
10
15
20
25
30
35
40
45
50
55
60
GU\VQRZ
GHFLGXRXVWUHHV
ZHWLFH
MTA 1
WHUUDFRWWD
GU\DVSKDOW
500
FOLIIVVDQGPDVRQU\
MTA 3 MTA 2
65
70
75
ZKLWHSODVWHUZRUNOLPHVWRQH
2000 ENOHD MTA 5
800
)29 58°
2.0
1.8
6ZDWK:LGWK
8000
1.6
8
7000 6000 5000 4000
380 6
500 650
4
850
3000 2000
400
1300 m 1710 m 2220 m 2900 m 3820 m
9000 2SHUDWLQJ)OLJKW$OWLWXGH$*/
3000
FRQLIHULRXVWUHHV
0D[0HDVXUHPHQW5DQJH>P@
2800 MTA 8
1000
3800 ft (1160 m) 5000 ft (1520 m) 6500 ft (1980 m) 8500 ft (2590 m) 11200 ft (3410 m)
12
MTA 9
3500
100
Flight Altitude AGL Swath Width 12000
3600
)OLJKW $OWLWXGH$*/
MTA 11
13000
1120
0 ft
1.4
0 ft 1.2
0 ft
0 ft
1.0
0 ft
80
7DUJHW5HÀHFWLYLW\>@
Example: VQ-1560i at 2 x 350,000 pulses/sec, laser power level 100% Altitude = 8,500 ft AGL, Speed = 155 kn
The following conditions are assumed for the Operating Flight Altitude AGL • ambiguity resolved by multiple-time-around (MTA) processing & flight planning • target size ≥ laser footprint • average ambient brightness • effective FOV 58° • roll angle ±5°
180
250 320 400 500
0.8
2
1000
0
140
$UHD$FTXLVLWLRQ5DWH>NPðK@
@ visibility 40 km @ visibility 23 km @ visibility 15 km
3RLQW'HQVLW\>SWVP2@
4500
14
4000
MTA 12
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
5000
0.6
650 800 1000 1200
0 50
70
90
110
130
150
170
190
6SHHG>NQ@
Results: Point Density ~ 2 pts/m² Spatial Sampling Frequency ~ 0.79 pts/m Area Acquisition Rate ~ 670 km²/h Assumptions for calculation of the Area Acquisition Rate • 20% overlap of neighboring flight strips. This overlap covers a roll angle of ±5° or a reduction of flight altitude AGL of 20%.
Definition of the Spatial Sampling Frequency • The Spatial Sampling Frequency is the reciprocal of the 95th percentile of the distribution function of the maximum distances between neighboring scan points. When considering any individual scan point, the probability to find its most distant neighbor within the reciprocal of the Spatial Sampling Frequency is 95%.
Preliminary Data Sheet
5
Measurement Range & Point Density RIEGL VQ-1560i PRR = 2x500 kHz, laser power level 100%
>P@ >IW@
11000
MTA 13
10000 2800
2400
MTA 10 MTA 9
2000 MTA 8
2000 MTA 7
1600
MTA 5
15
20
25
30
45
50
55
60
65
70
75
15
2.1
7000 6000 5000 4000
310 10
410
5500 7200
3000
800
5
9600
2000 400
0 ft
1.5
ft
ft
50
70
90
110
2000
2400 MTA 11 MTA 10
1600
MTA 9 1600 MTA 8 1200
MTA 7
1200 MTA 6
35
40
GU\VQRZ
FRQLIHULRXVWUHHV
30
GHFLGXRXVWUHHV
ZHWLFH
MTA 1
WHUUDFRWWD
GU\DVSKDOW
MTA 2
FOLIIVVDQGPDVRQU\
MTA 5
400
5
10
15
20
25
45
50
55
60
65
70
75
2800 ft (850 m) 3700 ft (1130 m) 4500 ft (1500 m) 6500 ft (1980 m) 8600 ft (2620 m)
30
8000
5000 4000
20
280
370
15
490 6500
10
800
8600
2000
58° 6ZDWK:LGWK
3.0
2.5
0 ft
0 ft 2.0
0 ft
0.5 50
70
90
110
130
150
170
190
6SHHG>NQ@
>P@
Results: Point Density ~ 12.5 pts/m² Spatial Sampling Frequency ~ 2 pts/m Area Acquisition Rate ~ 215 km²/h
>IW@
60
4.3
2400
@ visibility 40 km @ visibility 23 km @ visibility 15 km
MTA 18
2700 ft (820 m) 3500 ft (1170 m) 4400 ft (1340 m) 5600 ft (1710 m) 7200 ft (2190 m)
50 7000
2000
MTA 16 MTA 15
6000
MTA 14
920 m 1200 m 1500 m 1910 m 2460 m
)29 58°
4.0 80
6ZDWK:LGWK
40
3.5
1600
1200
MTA 10
MTA 8
MTA 7
40
0 0
5
10
15
20
25
30
45
50
55
60
GU\VQRZ
35
GHFLGXRXVWUHHV
MTA 1
ZHWLFH
MTA 2
FRQLIHULRXVWUHHV
MTA 3
GU\DVSKDOW
400
WHUUDFRWWD
MTA 4
FOLIIVVDQGPDVRQU\
MTA 5
65
70
75
ZKLWHSODVWHUZRUNOLPHVWRQH
800
MTA 6
800
5000
4000
3000
3RLQW'HQVLW\>SWVP2@
1600 MTA 11
2SHUDWLQJ)OLJKW$OWLWXGH$*/
MTA 13 MTA 12
65
Flight Altitude AGL Swath Width
8000
MTA 17
MTA 9 1200 ENOHD
180
400 500 650 800 1000
1.0
MTA 21
2800 MTA 19
140
320 1.5
ft
0
80
100
250
ft
1000 0
3200 MTA 20
80
5
400
PRR = 2x1000 kHz, laser power level 100%
0D[0HDVXUHPHQW5DQJH>P@
)29
6000
Example: VQ-1560i at 2 x 700,000 pulses/sec, laser power level 100% Altitude = 3,700 ft AGL, Speed = 115 kn
2000
960 m 1260 m 1670 m 2220 m 2940 m
25
7DUJHW5HÀHFWLYLW\>@
2400
190
7000
3000
0 0
170
3.5
35
3RLQW'HQVLW\>SWVP2@
MTA 12
ZKLWHSODVWHUZRUNOLPHVWRQH
0D[0HDVXUHPHQW5DQJH>P@
2400
MTA 13
MTA 3
150
Flight Altitude AGL Swath Width
9000 2SHUDWLQJ)OLJKW$OWLWXGH$*/
MTA 14
MTA 4
130
40
2800
MTA 15
800
500 650 800 1000
>IW@ 10000
@ visibility 40 km @ visibility 23 km @ visibility 15 km
ENOHD
0.9
Results: Point Density ~ 4 pts/m² Spatial Sampling Frequency ~ 1.1 pts/m Area Acquisition Rate ~ 470 km²/h
3200
2000
400
6SHHG>NQ@
4000
2800
1.2
0
PRR = 2x700 kHz, laser power level 100%>P@ MTA 16
250
0.6
0
80
7DUJHW5HÀHFWLYLW\>@
3200
180
320
ft
1000
Example: VQ-1560i at 2 x 500,000 pulses/sec, laser power level 100% Altitude = 5,500 ft AGL, Speed = 170 kn
3600 MTA 17
1.8
0 ft
140
$UHD$FTXLVLWLRQ5DWH>NPðK@
10
1200
8000
30
270
3.0
0 ft
350
0 ft
440
20
560
2000
720
2.5
0 ft
0 ft
1.5
1000
1.0 0
80
7DUJHW5HÀHFWLYLW\>@
Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 100% Altitude = 5,600 ft AGL, Speed = 170 kn
The following conditions are assumed for the Operating Flight Altitude AGL • ambiguity resolved by multiple-time-around (MTA) processing & flight planning • target size ≥ laser footprint • average ambient brightness • effective FOV 58° • roll angle ±5°
140
180
250 2.0
0 ft
10
400
100
$UHD$FTXLVLWLRQ5DWH>NPðK@
5
100 2.4
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
0
58° 6ZDWK:LGWK
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
40
0
GU\VQRZ
MTA 1
ZHWLFH
GU\DVSKDOW
500 MTA 2
FOLIIVVDQGPDVRQU\
35
MTA 3
GHFLGXRXVWUHHV
FRQLIHULRXVWUHHV
1000
WHUUDFRWWD
MTA 4
)29
)OLJKW $OWLWXGH$*/
1500
ZKLWHSODVWHUZRUNOLPHVWRQH
MTA 6 ENOHD
2SHUDWLQJ)OLJKW$OWLWXGH$*/
MTA 11 3000
1060 m 1400 m 1880 m 2460 m 3280 m
9000
3RLQW'HQVLW\>SWVP2@
3500 MTA 12
2500
3100 ft (940 m) 4100 ft (1250 m) 5500 ft (1680 m) 7200 ft (2190 m) 9600 ft (2930 m)
20
3200
2.7 )OLJKW $OWLWXGH$*/
MTA 14
4000
80
Flight Altitude AGL Swath Width 12000
3600
)OLJKW $OWLWXGH$*/
MTA 15
13000
$UHD$FTXLVLWLRQ5DWH>NPðK@
@ visibility 40 km @ visibility 23 km @ visibility 15 km
4500
0D[0HDVXUHPHQW5DQJH>P@
25
4000
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
5000
320 400 500 650 800
0 50
70
90
110
130
150
170
190
6SHHG>NQ@
Results: Point Density ~ 8 pts/m² Spatial Sampling Frequency ~ 1.6 pts/m Area Acquisition Rate ~ 480 km²/h Assumptions for calculation of the Area Acquisition Rate • 20% overlap of neighboring flight strips. This overlap covers a roll angle of ±5° or a reduction of flight altitude AGL of 20%.
Definition of the Spatial Sampling Frequency • The Spatial Sampling Frequency is the reciprocal of the 95th percentile of the distribution function of the maximum distances between neighboring scan points. When considering any individual scan point, the probability to find its most distant neighbor within the reciprocal of the Spatial Sampling Frequency is 95%.
6
Preliminary Data Sheet
Measurement Range & Point Density RIEGL VQ-1560i PRR = 2x1000 kHz, laser power level 50% >P@
>IW@ 6000
5.0
80
MTA 16
50
Flight Altitude AGL Swath Width 1900 ft (580 m) 2500 ft (760 m) 3200 ft (980 m) 4100 ft (1250 m) 5300 ft (1620 m)
70 5000
MTA 13 60
MTA 12
MTA 8 800
MTA 7 ENOHD
MTA 6 MTA 5
40
0 0
5
10
15
20
25
30
45
50
55
60
GU\VQRZ
35
GHFLGXRXVWUHHV
FRQLIHULRXVWUHHV
MTA 1
ZHWLFH
MTA 2
WHUUDFRWWD
GU\DVSKDOW
MTA 3
FOLIIVVDQGPDVRQU\
MTA 4
65
70
75
65
3000
2000
190
40
250
30
320 410
20
400
530
1000
3.5
0 ft
0 ft
3.0
0 ft
0 ft
0 ft
1.0 0
80
50
70
90
110
130
170
150
190
6SHHG>NQ@
>P@
Results: Point Density ~ 12.3 pts/m² Spatial Sampling Frequency ~ 2 pts/m Area Acquisition Rate ~ 310 km²/h
>IW@
1800
32
120
MTA 12
6.0
1300 ft (400 m) 1700 ft (520 m) 2300 ft (700 m) 3000 ft (910 m) 4000 ft (1220 m)
100
MTA 9
)29 58°
5.0
MTA 6 MTA 5 MTA 4 ENOHD
15
20
25
30
40
45
50
55
60
65
70
75
2000
400
170 40
230 3000
1000
4000
20
0 ft 4.0
0 ft 3.5
0 ft 3.0
ft
ft
50
>P@
70
90
110
130
170
150
190
180
1000
MTA 9
Results: Point Density ~ 20.2 pts/m² Spatial Sampling Frequency ~ 2.5 pts/m Area Acquisition Rate ~ 190 km²/h
>IW@
1300
1000
Flight Altitude AGL Swath Width
@ visibility 40 km @ visibility 23 km @ visibility 15 km
3000
800
MTA 7
160
900 ft (270 m) 1200 ft (370 m) 1600 ft (490 m) 2100 ft (640 m) 2800 ft (850 m)
140 2500
310 m 410 m 550 m 720 m 960 m
)29 58°
7.0
6ZDWK:LGWK
700
MTA 5
600 MTA 4
500
400
MTA 3
400
0
5
10
15
20
25
30
45
50
55
60
65
70
75
ZKLWHSODVWHUZRUNOLPHVWRQH
0
GU\VQRZ
40
FOLIIVVDQGPDVRQU\
35
GHFLGXRXVWUHHV
FRQLIHULRXVWUHHV
MTA 1
ZHWLFH
100
WHUUDFRWWD
200
GU\DVSKDOW
MTA 2
0
ft
100
1500
1000 ENOHD
300
6.0
90
2000
3RLQW'HQVLW\>SWVP2@
600
2SHUDWLQJ)OLJKW$OWLWXGH$*/
120
MTA 6
5.5
5.0
80
120 60
160 210
40
200
280
500
0 ft
4.5
0 ft
4.0
0 ft
0 ft
80
Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 12% Altitude = 1,200 ft AGL, Speed = 105 kn
The following conditions are assumed for the Operating Flight Altitude AGL • ambiguity resolved by multiple-time-around (MTA) processing & flight planning • target size ≥ laser footprint • average ambient brightness • effective FOV 58° • roll angle ±5°
40
50
65 80 100
3.0
140 180 250 320
2.0
7DUJHW5HÀHFWLYLW\>@
32
3.5
2.5
20
0
25
6.5
900 800
180
6SHHG>NQ@
PRR = 2x1000 kHz, laser power level 12% MTA 8
80 100
0
80
Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 25% Altitude = 3,000 ft AGL, Speed = 125 kn
1100
65
250 320 400 500
2.0
0
50
140
2.5
7DUJHW5HÀHFWLYLW\>@
1200
40
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
10
4.5
130
60
)OLJKW $OWLWXGH$*/
ZHWLFH
GU\DVSKDOW
MTA 1 0
GU\VQRZ
FRQLIHULRXVWUHHV
35
MTA 2
GHFLGXRXVWUHHV
WHUUDFRWWD
300
FOLIIVVDQGPDVRQU\
MTA 3
3000
3RLQW'HQVLW\>SWVP2@
800
900
2SHUDWLQJ)OLJKW$OWLWXGH$*/
MTA 7
5.5
6ZDWK:LGWK
80
MTA 8
ZKLWHSODVWHUZRUNOLPHVWRQH
0D[0HDVXUHPHQW5DQJH>P@
1200
440 m 580 m 790 m 1020 m 1370 m
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
4000
1200
MTA 10
)OLJKW $OWLWXGH$*/
Flight Altitude AGL Swath Width
@ visibility 40 km @ visibility 23 km @ visibility 15 km
MTA 11 1500
0D[0HDVXUHPHQW5DQJH>P@
320 400 500 650
1.5 0
PRR = 2x1000 kHz, laser power level 25%
5
140
250 2.0
10
7DUJHW5HÀHFWLYLW\>@
0
100
180
2.5
Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 50% Altitude = 4,100 ft AGL, Speed = 150 kn
600
80
$UHD$FTXLVLWLRQ5DWH>NPðK@
600
4.5
4.0
50
3RLQW'HQVLW\>SWVP2@
1200
2SHUDWLQJ)OLJKW$OWLWXGH$*/
MTA 9
ZKLWHSODVWHUZRUNOLPHVWRQH
0D[0HDVXUHPHQW5DQJH>P@
MTA 10
58° 6ZDWK:LGWK
4000
1200
MTA 11
)29
$UHD$FTXLVLWLRQ5DWH>NPðK@
1800
650 m 850 m 1090 m 1400 m 1810 m
$UHD$FTXLVLWLRQ5DWH>NPðK@
MTA 14
1600
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
@ visibility 40 km @ visibility 23 km @ visibility 15 km
MTA 15
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2400
0 50
70
90
110
130
150
170
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Results: Point Density ~ 60.2 pts/m² Spatial Sampling Frequency ~ 4.3 pts/m Area Acquisition Rate ~ 64 km²/h Assumptions for calculation of the Area Acquisition Rate • 20% overlap of neighboring flight strips. This overlap covers a roll angle of ±5° or a reduction of flight altitude AGL of 20%.
Definition of the Spatial Sampling Frequency • The Spatial Sampling Frequency is the reciprocal of the 95th percentile of the distribution function of the maximum distances between neighboring scan points. When considering any individual scan point, the probability to find its most distant neighbor within the reciprocal of the Spatial Sampling Frequency is 95%.
Preliminary Data Sheet
7
Measurement Range & Point Density RIEGL VQ-1560i >P@ >IW@
1000
200
Flight Altitude AGL Swath Width 800 ft (240 m) 1000 ft (300 m) 1200 ft (370 m) 1500 ft (460 m) 2000 ft (610 m)
175
2000
600
150
700
80
MTA 4 500
400
MTA 3
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40
0
GU\VQRZ
35
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FRQLIHULRXVWUHHV
ZHWLFH
MTA 1
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MTA 2
100
7.0
6.5
t
125
6.0 100
1000
300
200
58°
200
100 120
75
150 200
50
25
6ZDWK:LGWK
1500
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600
400
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0f
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MTA 5
270 m 340 m 410 m 510 m 680 m
7.5
5.5
0 ft
5.0
0 ft
0 ft
4.5
32
40
50
$UHD$FTXLVLWLRQ5DWH>NPðK@
MTA 6 800
20
2500
6SDWLDO6DPSOLQJ)UHTXHQF\>SWVP@
800
@ visibility 40 km @ visibility 23 km @ visibility 15 km
900
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PRR = 2x1000 kHz, laser power level 6%
65
0 ft
4.0
500
80
3.5
100
3.0
140 180 250
25
2.0 0 0
0
5
10
15
20
25
30
45
50
55
60
65
70
75
80
70
50
90
110
7DUJHW5HÀHFWLYLW\>@
130
150
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Example: VQ-1560i at 2 x 1,000,000 pulses/sec, laser power level 6% Altitude = 1,000 ft AGL, Speed = 75 kn
The following conditions are assumed for the Operating Flight Altitude AGL • ambiguity resolved by multiple-time-around (MTA) processing & flight planning • target size ≥ laser footprint • average ambient brightness • effective FOV 58° • roll angle ±5°
Results: Point Density ~ 101 pts/m² Spatial Sampling Frequency ~ 5.6 pts/m Area Acquisition Rate ~ 38 km²/h Assumptions for calculation of the Area Acquisition Rate • 20% overlap of neighboring flight strips. This overlap covers a roll angle of ±5° or a reduction of flight altitude AGL of 20%.
Definition of the Spatial Sampling Frequency • The Spatial Sampling Frequency is the reciprocal of the 95th percentile of the distribution function of the maximum distances between neighboring scan points. When considering any individual scan point, the probability to find its most distant neighbor within the reciprocal of the Spatial Sampling Frequency is 95%.
RIEGL VQ-1560i Productivity The RIEGL VQ-1560i Dual Channel Airborne Mapping System offers highest productivity. 1000
Area Acquisition Rate [km²/h]
900 800
Productivity of the VQ-1560i when using a typical aircraft, e.g. a DA42
700
For maximizing the productivity of the VQ-1560i at low point densities an aircraft with a high maximum speed, e.g. up to 330kn, is necessary.
600 Very high point densities can be achieved when using the VQ-1560i with a helicopter, e.g. an EC120.
500 400 300 200 100 0 0
10
20
30
40
50 Average Point Density [pts/m²]
60
70
80
90
100
Examples 1) Average Point Density Flight Altitude Ground Speed Swath Width Productivity Measurement Rate
2)
2 pts/m2 6000 ft 1830 m
8 pts/m2 4500 ft 1370 m
20 pts/m2 3300 ft 1000 m
60 pts/m2 1150 ft 351 m
315 kn
210 kn
115 kn
110 kn
2040 m 1540 m 1130 m 400 m 450 km2/h 180 km2/h 60 km2/h 900 km2/h 660 000 meas./sec 1.33 mill meas./sec 1.33 mill meas./sec 1.33 mill meas./sec
1) calculated for 20% target reflectance and 25% stripe overlap 2) The target detection rate is equal to the measurement rate for terrains offering only one target per laser pulse but may be much higher for vegetated areas.
8
Preliminary Data Sheet
Technical Data RIEGL VQ-1560i Laser Product Classification
Class 3B Laser Product according to IEC60825-1:2014 The following clause applies for instruments delivered into nd the United States: Complies with 21 CFR 1040.10 and ice 1040.11 except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007. The instrument must be used only in combination with the appropriate laser safety box.
Range Measurement Performance 1) Laser Power Level Laser Pulse Repetition Rate (PRR) 2) Max. Measuring Range 3) 4) natural targets ≥ 20 % natural targets ≥ 60 % Max. Operating Flight Altitude Above Ground Level (AGL) 3) 5) NOHD 6) 7) ENOHD 7) 8) Laser Power Level Laser Pulse Repetition Rate (PRR) 2) Max. Measuring Range 3) 4) natural targets ≥ 20 % natural targets ≥ 60 % Max. Operating Flight Altitude Above Ground Level (AGL) 3) 5) NOHD 6) 7) ENOHD 7) 8)
as a function of laser power setting, PRR, and target reflectivity
2 x 150 kHz
2 x 250 kHz
100% 2 x 350 kHz
2 x 500 kHz
2 x 700 kHz
3800 m 5800 m 4700 m 15500 ft 370 m 2650 m
3100 m 4800 m 3900 m 12900 ft 290 m 2050 m
2700 m 4200 m 3400 m 11200 ft 240 m 1730 m
2300 m 3600 m 2900 m 9600 ft 200 m 1440 m
2000 m 3200 m 2600 m 8600 ft 170 m 1220 m
100% 50% 25% 12% 6% 2 x 1000 kHz 2 x 1000 kHz 2 x 1000 kHz 2 x 1000 kHz 2 x 1000 kHz 1700 m 2700 m 2200 m 7200 ft
1200 m 2000 m 1600 m 5300 ft
900 m 1500 m 1200 m 4000 ft
630 m 1050 m 860 m 2800 ft
450 m 770 m 630 m 2000 ft
140 m 1010 m
95 m 700 m
61 m 480 m
36 m 300 m
21 m 160 m
1) with online waveform processing 2) rounded average PRR 3) Typical values for average conditions and average ambient brightness; in bright sunlight the operational range may be considerably shorter and the operational flight altitude may be considerably lower than under an overcast sky. 4) The maximum range is specified for flat targets with size in excess of the laser beam diameter, perpendicular angle of incidence, and for atmospheric visibility of 40 km. Range amiguities have to be resolved by multiple-time-around processing. 5) Typical values for reflectivity ≥ 60 %, max. effective FOV 58°, additional roll angle ± 5° 6) Nominal Ocular Hazard Distance, based upon MPE according to IEC60825-1:2007, for single pulse condition 7) NOHD and ENOHD have been calculated for a typical angular step width of 0.012° which means non-overlapping laser footprints. NOHD and ENOHD increase when using overlapping laser footprints which may be intended e.g. for power line mapping. 8) Extended Nominal Ocular Hazard Distance, based upon MPE according to IEC60825-1:2007, for single pulse condition
Minimum Range 9) Accuracy 10) 11) Precision 11) 12) Laser Pulse Repetition Rate Effective Measurement Rate Echo Signal Intensity Laser Wavelength Laser Beam Divergence 13) Number of Targets per Pulse
Scanner Performance
Scanning Mechanism Scan Pattern Tilt Angle of Scan Lines Forward/ Backward Look in Non-Nadir Direction Scan Angle Range Total Scan Rate 15) Angular Step Width 16) 17) Angle Measurement Resolution 9)
Limitation for range measurement capability, does not consider laser safety issues! 10) Accuracy is the degree of conformity of a measured quantity to its actual (true) value. 11) Standard deviation one sigma @ 250 m range under RIEGL test conditions.
50 m 20 mm 20 mm up to 2 MHz up to 1.33 MHz @ 60° scan angle provided for each echo signal near infrared ≤ 0.25 mrad with online waveform processing: unlimited 14) monitoring data output: first pulse rotating polygon mirror parallel scan lines per channel, crossed scan lines between channels ± 14° = 28° ± 8° at the edges 60° total per channel, resulting in an effective FOV of 58° 40 - 600 lines/sec ≥ 0.006° 0.001° 12) Precision, also called reproducibility or repeatability, is the degree to which further measurements show the same result. 13) Measured at the 1/e2 points. 0.25 mrad correspond to an increase of 25 cm of beam diameter per 1000 m distance. 14) Practically limited only by the maximum data rate allowed for the RIEGL Data Recorder.
15) The minimum scan rate depends on the selected laser PRR and laser power level. 16) The minimum angular step width depends on the selected laser PRR and laser power level. 17) The maximum angular step width is mainly limited by the maximum scan rate.
Technical Data to be continued at page 10
Preliminary Data Sheet
9
Technical Data RIEGL VQ-1560i (continued) Data Interfaces
Configuration Monitoring Data Output Digitized Data Output Synchronization
TCP/IP Ethernet (10/100/1000 MBit/s) TCP/IP Ethernet (10/100/1000 MBit/s) Dual glass fiber data link to RIEGL Data Recorder DR1560 Serial RS232 interface, TTL input for 1 pps synchronization pulse, accepts different data formats for GNSS-time information
General Technical Data
Power Supply / Current Consumption
20 - 32 V DC / typ. 250 W, max. 550 W, depending on integrated optional components 444 x 586 x 715 mm, mounting flange diameter 524 mm approx. 57 kg without any camera but including a typical IMU/GNSS approx. 65 kg with optional components IP54 18500 ft (5600 m) above Mean Sea Level MSL / 18500 ft (5600 m) above MSL 0°C up to +40°C (operation) / -10°C up to +50°C (storage)
Main Dimensions (L x W x H) Weight Protection Class Max. Flight Altitude operating / not operating Temperature Range
Optional Components VQ-1560i Please note: The INS and the camera configuration of the RIEGL VQ-1560i Laser Scanning System can be customized.
RGB Camera Sensor Resolution Sensor Dimensions (diagonal) Focal Length of Camera Lens Field of View (FOV) Interface Data Storage
up to 100 MPixel CMOS without FMC or up to 80 MPixel CCD with FMC 67.2 mm (medium format) 50 mm approx. 56.2° x 43.7° USB 3.0 via GigE to RIEGL Data Recorder DR1560
Thermal Camera Spectral Range Sensor Resolution Temperature Measuring Range Focal Length of Camera Lens Field of View (FOV) Interface Data Storage
7.5 - 14 μm 1024 x 768 Pixel -40°C up to +1200°C 15 mm approx. 60° x 47° GigE via GigE to RIEGL Data Recorder DR1560
Recommended IMU/GNSS System 1) IMU Accuracy 2) Roll, Pitch Heading IMU Sampling Rate Position Accuracy (typ.)
0.005° 0.008° 200 Hz 0.05 m - 0.3 m
1) The recommended IMU is listed neither in the European Export Control List (i.e. Annex 1 of Council Regulation 428/2009) nor in the Canadian Export Control List. Detailed information on certain cases will be provided on request. 2) One sigma values, no GNSS outages, post-processed with base station data
RIEGL Laser Measurement Systems GmbH Riedenburgstraße 48 3580 Horn, Austria Phone: +43 2982 4211 | Fax: +43 2982 4210
[email protected] www.riegl.com
RIEGL USA Inc. Orlando, Florida |
[email protected] | www.rieglusa.com RIEGL Japan Ltd. Tokyo, Japan |
[email protected] | www.riegl-japan.co.jp RIEGL China Ltd. Beijing, China |
[email protected] | www.riegl.cn
www.riegl.com
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.
Preliminary Data Sheet, RIEGL VQ-1560i, 2016-10-06
