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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 ( in Halifax, June 2012. More session details at .

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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