Geographic Sciences Diploma – Remote    Term Project: Jan – May                 Sensing                           2012    ...
What is Direct Georeferencing?Source: UNB Geodesy and Geomatics Engineering Lecture Notes; Guide to GPS Positioning (1999).
Positional Information is post-processed to acquire full benefitfrom Carrier Phase GNSSThe Inertial Measurement Unitand GP...
Sensors UsedFLIR A615 Thermal             Canon Rebel RGBCamera                        Camera• FOV = ~45°                 ...
Positioning EquipmentApplanix Position and Orientation System forAirborne Vehicles (POS AV)                               ...
Power Requirements     Device        Amperage     VoltagePOS AV                    2.5 A     24 VNetwork Hub              ...
Circuitry• All equipment powered  with three 12V batteries• Two 12V batteries wired in  series for the POS AV,  stored in ...
Box 1 - Schematic
Box 2 - Schematic
Software Development KitsSystem Requirements:       C language interface thatAn IDE which understands   recommends using M...
Position and TimingWe need to use the POS’s User DatagramProtocol stream to make decisions and toupdate the Pilot’s onboar...
A Complex Event Driven Program
User Interface for a complex event drivenprogram   Show picture of   DGATS!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!   !!!!!!!...
Planning a Flight               Lots of preflight planning and information had to               be compiled and either int...
MiddletonTransect PlanningMapThis was distributed to all the partiesinvolved in the flight. It indicates theprimary subjec...
Pilot Display
Lever Arm OffsetsGNSS – IMU                IMU – RGB• Initial X, Y, Z         • X, Y, Z  -5 cm, 0 cm, -87.5 cm    2.5 cm, ...
InstallationCessna 172• Single engine• Fixed-wing• Maximum altitude  of 14 000 ft.• Maximum speed of  124 ktas
InstallationMount supports both sensors and the IMU
InstallationVertically oriented cameras           All equipment installed in cargo
Preliminary ResultsNo electricalmalfunctions in flight!Plenty of power!Software functionedflawlessly. Logssuccessfully rec...
Potential  Applications& Future Projects
MorningNSCC Middleton Campus- Maximum Temp. 38 C
AfternoonNSCC Middleton Campus- Maximum Temp. 44 C
River Temperature       and     Sewage   Temperature
AcknowledgementsCOGSTrevor Milne, Paul Illsley, Bruce Hicks, Brian Pyke, DaveMacLean, Jim Norton, Dave WedlockAGRGDr. Timo...
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Open-Source Based Direct Georeferencing Thermal Camera System

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Steve AuCoin & James Thompson's presentation at Geomatics Atlantic 2012 (www.geomaticsatlantic.com) in Halifax, June 2012. More session details at http://lanyrd.com/2012/geomaticsatlantic2012/sryrx/ .

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  • Images courtesy of Paul Illsley.
  • Image courtesy of Paul Illsley.
  • Images courtesy of Paul Illsley.
  • Image courtesy of Paul Illsley.
  • Images courtesy of Paul Illsley.
  • Images courtesy of Paul Illsley.
  • Open-Source Based Direct Georeferencing Thermal Camera System

    1. 1. Geographic Sciences Diploma – Remote Term Project: Jan – May Sensing 2012 Development of an Open-Source Based Direct Georeferencing Thermal CameraTeam DGATS: Led by:James Thompson & Steven System Trevor Milne the MastermindAuCoin
    2. 2. What is Direct Georeferencing?Source: UNB Geodesy and Geomatics Engineering Lecture Notes; Guide to GPS Positioning (1999).
    3. 3. Positional Information is post-processed to acquire full benefitfrom Carrier Phase GNSSThe Inertial Measurement Unitand GPS system (PosAV) createsa very accurate path known asSmooth Best Estimate ofTrajectory (sbet)
    4. 4. Sensors UsedFLIR A615 Thermal Canon Rebel RGBCamera Camera• FOV = ~45° • FOV = 43-°• Focal length = 13.1 mm • Focal length = 28 mm• Sensor = 8.11 x 10.82 • Sensor = 14.8 x 22.2 mm mm• Spectral range = 7.5 – 13 µm
    5. 5. Positioning EquipmentApplanix Position and Orientation System forAirborne Vehicles (POS AV) 21. PCS 12. GNSS antenna 33. IMU
    6. 6. Power Requirements Device Amperage VoltagePOS AV 2.5 A 24 VNetwork Hub 1.2 A 12 VPilot Display 1.5 A 12 VFLIR 2A 12 VRGB 2A 8V Batteries Amp Hours Voltage2 x 12 VDC 55 A.H. @ 20Hr 24 V1 x 12 VDC (gel) 51 A.H. @ 20Hr 12 V
    7. 7. Circuitry• All equipment powered with three 12V batteries• Two 12V batteries wired in series for the POS AV, stored in box 1• Gel-cell 12V battery used in box 2 for remaining equipment• 12V converted to 8V for the RGB camera
    8. 8. Box 1 - Schematic
    9. 9. Box 2 - Schematic
    10. 10. Software Development KitsSystem Requirements: C language interface thatAn IDE which understands recommends using MicrosoftActiveX components eg. Visual Studio for DevelopmentVisual Basic, Visual C# projectsetc.
    11. 11. Position and TimingWe need to use the POS’s User DatagramProtocol stream to make decisions and toupdate the Pilot’s onboard displayDGATS receives UDP updates once persecondIMU records platform attitude 200x persecondIMU speed and accuracy are important because the plane speed averagesabove 50 m/s. GPS signal restrains IMU from ‘drifting’ and gives real worldcoordinates.The ‘datagrams’ are binary packages of information that require restructuringin DGATS before being used for processing. The information is constantlyvarying in length and data types.This functionality could not interfere with the user-driven interface, buthow?
    12. 12. A Complex Event Driven Program
    13. 13. User Interface for a complex event drivenprogram Show picture of DGATS!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !!
    14. 14. Planning a Flight Lots of preflight planning and information had to be compiled and either integrated into DGATS or the flight maps. We needed:Sensor specifications:- Sensor size and focal length to calculate image footprints and airbase to ensure correct overlap for our flying height- Equation: fl/ss = H/DSurvey specifics and terrain details:- Subject area was the Middleton Transect- AGRG provided LiDAR data for DEM and post-processingFlight details:- Weather and timing were essential.- Expected the morning flight to have best thermal information.
    15. 15. MiddletonTransect PlanningMapThis was distributed to all the partiesinvolved in the flight. It indicates theprimary subject area as well as thelines required (indicative of time). Theelevations seen in the DEM overlayposed the next problem.Our system processes and recordsinformation in the GPS standardWGS84 datum. Photogrammetricaccuracy and the DGATS decisionsrequire height above ground level(AGL) to be used.
    16. 16. Pilot Display
    17. 17. Lever Arm OffsetsGNSS – IMU IMU – RGB• Initial X, Y, Z • X, Y, Z -5 cm, 0 cm, -87.5 cm 2.5 cm, 0 cm, 37 cm• Calibrated X, Y, Z IMU – FLIR -5 cm, 2.8 cm, -91 cm • X, Y, Z -1.5 cm, 10.5 cm, 37 cm
    18. 18. InstallationCessna 172• Single engine• Fixed-wing• Maximum altitude of 14 000 ft.• Maximum speed of 124 ktas
    19. 19. InstallationMount supports both sensors and the IMU
    20. 20. InstallationVertically oriented cameras All equipment installed in cargo
    21. 21. Preliminary ResultsNo electricalmalfunctions in flight!Plenty of power!Software functionedflawlessly. Logssuccessfully recordedevents and times.Initial estimates indicate a potential residual of 2 metres forRGB imagery.This is a product of a 40 millisecond delay in the cameraevents.For context, a blink takes 300-400 milliseconds
    22. 22. Potential Applications& Future Projects
    23. 23. MorningNSCC Middleton Campus- Maximum Temp. 38 C
    24. 24. AfternoonNSCC Middleton Campus- Maximum Temp. 44 C
    25. 25. River Temperature and Sewage Temperature
    26. 26. AcknowledgementsCOGSTrevor Milne, Paul Illsley, Bruce Hicks, Brian Pyke, DaveMacLean, Jim Norton, Dave WedlockAGRGDr. Timothy Webster, David Colville, Suzanne Monette,Theresa Constantine-SmithESETScott Henderson, Dennis KingstonGreenwood Flight CenterAllen Jacob

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