Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.
Application of dual output LiDAR scanning
system for power transmission line data capture
European LiDAR Mapping Forum
Sal...
Stereocarto Group
 Group of companies specialized in geoinformation: Capture, process
and exploitation

 Core companies:...
Main resources and projects
 One of Stereocarto strengths is massive data capture:
 5 Digital cameras:
• 3 Z/I DMC
• 1 L...
Powerline geometry studies objectives
 Powerline analysis to detect potential clearance violations (points failing
to kee...
LiDAR applied to powerlines
 LiDAR is an excellent tool to model powerlines thanks to its unique
features

 Multiple ret...
Information extracted from LiDAR data
 Overhead cable modelling
• Catenary parameters

 Electricity pylons
 Terrain in ...
Powerline applications of LiDAR
 New lines planning
 Existing lines inventory:
• 3D modelling of high voltage powerlines...
Red Eléctrica de España (REE)
 REE is the Spanish TSO (Transmission System Operator)
 REE is the unique responsible of e...
REE transmission grid

Application of dual output LiDAR scanning system
for power transmission line data capture

European...
Project objective
 “Data acquisition with laser scanning technology (LiDAR) for
determination of points with critical dis...
Powerlines covered

Application of dual output LiDAR scanning system
for power transmission line data capture

European Li...
Deliverables
 Required data:
•
•
•
•

Listing of critical distance points.
Phase conductor with critical distance.
Cross ...
Schedule
 Project done in summer
 Flight planning and execution 2 weeks
 Trajectory calculation 1 week
 Point cloud an...
Technical resources
Technical resources

Model

Manufacturer

Helicopter

Eurocopter Ecureuil AS350 B3

Eurocopter

Laser ...
ALS70-HP
LS70-LP Laser Scanner

SC70 System Controller

LC60 Laser Controller

MM70 Mass Memory
OC50 Pilot Display

GI40 G...
Sensor mounting
 LiDAR sensor mounted on Dart POD .
ALS with / without
RCD, Dart pod

In cabin
In pod

Application of dua...
Sensor parameters
 Main parameters:
• Field of vision (FOV)
• Pulse rate
• Scan rate

 Constraints:
• Point density
• Po...
Sensor parameters

Application of dual output LiDAR scanning system
for power transmission line data capture

European LiD...
Sensor parameters for cable capture


Cable detection
•



Across track spacing equal to pulse footprint size is used – ...
Flight parameters
Flight parameters
Flying heigtht AGL
Ground speed

500
40 (72)

meters
Knots(Km/h)

LiDAR
Parameter

ALS...
Accuracy
 Planned parameters result in:
• Relative accuracy:
• X, Y ~ 6 cm
• Z ~ 7 cm
• Required 0.50 m

• Absolute accur...
Workflow
LiDAR & simulated
data integration

LiDAR flight
planning and
execution
RAW
Data

Process

Critical points
determ...
LiDAR data process
 Point cloud

Application of dual output LiDAR scanning system
for power transmission line data captur...
LiDAR data process
 Classification

Overhead line

Vegetation & buildings

Application of dual output LiDAR scanning syst...
LiDAR data process
 Cable extraction
• Determination of points belonging to the cable in the point cloud

Application of ...
Captured data
 Critical points identification
• Identification of potencial clearance violations under existing condition...
Captured data
 Deliverable

Application of dual output LiDAR scanning system
for power transmission line data capture

Eu...
Captured data
 Deliverable

Application of dual output LiDAR scanning system
for power transmission line data capture

Eu...
Captured data
 Cross section

Application of dual output LiDAR scanning system
for power transmission line data capture

...
Weather case simulation
 Catenary parameters and cable position determination under alternative
scenarios or weather case...
Inypsa simulation application
LiDAR data

Overhead line
modeling
engine

Conductors
properties
database

Ambient Temp
Insu...
Simulated data
 Point cloud

Simulated cable

Application of dual output LiDAR scanning system
for power transmission lin...
Simulated data
 Point cloud cross section
Cable simulation
Wind case

Cables

Cable simulation
Max load
Application of du...
Extreme wind case
 Deliverable

Simulated cable

Application of dual output LiDAR scanning system
for power transmission ...
Extreme wind case
 Deliverable

Application of dual output LiDAR scanning system
for power transmission line data capture...
Extreme wind case
 Cross section

Application of dual output LiDAR scanning system
for power transmission line data captu...
Alphanumeric deliverables
 Critical points:
• Data grouped by spans between pylons.
• Cable parameter listings (captured ...
Critical distances

Pylon

Distance to pylon

Cable clearance

Object class

East

North

Elevation

1

16,1

4,99

vegeta...
Buildings clearance

Application of dual output LiDAR scanning system
for power transmission line data capture

European L...
Terrain clearance

Application of dual output LiDAR scanning system
for power transmission line data capture

European LiD...
Vegetation clearance
 Growing vegetation

Application of dual output LiDAR scanning system
for power transmission line da...
Vegetation clearance
 Falling trees danger

Application of dual output LiDAR scanning system
for power transmission line ...
High level of detail – pylon 1

Application of dual output LiDAR scanning system
for power transmission line data capture
...
High level of detail – pylon 2

Application of dual output LiDAR scanning system
for power transmission line data capture
...
High level of detail – pylon 3

Application of dual output LiDAR scanning system
for power transmission line data capture
...
Weather case visualization
 Maximum load cable modelling in Google Earth

Application of dual output LiDAR scanning syste...
Weather case visualization
 Extreme across track wind (120 Km/h) cable modelling in Google Earth

Application of dual out...
Conclusions
 ALS70-HP allows doubling flight speed over 80 knots without
compromising spacing
 Finally speed is only lim...
OFICINAS:

STEREOCARTO, S.L.
OFICINA CENTRAL:
General Díaz Porlier, 49
28001 Madrid, España.
Telf. +34 911211800
Fax: +34 ...
Upcoming SlideShare
Loading in …5
×

Application of dual output LiDAR scanning system for power transmission line data capture

1,483 views

Published on

Leica ALS70 LiDAR in powerline profiling projects in Spain presented at European LiDAR Mapping Forum (ELMF) 2011

Published in: Technology, Business
  • Be the first to comment

  • Be the first to like this

Application of dual output LiDAR scanning system for power transmission line data capture

  1. 1. Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 November 2011 Pedro Llorens(1) – Ron Roth (2) – F. Javier Luque (1) – Alfonso Gómez (1) – Francisco J. Arjonilla (1) (1) Stereocarto, S.L. – Madrid, Spain, (2) Leica Geosystems pllorens@stereocarto.com
  2. 2. Stereocarto Group  Group of companies specialized in geoinformation: Capture, process and exploitation  Core companies: • Stereocarto: General geoinformation process and exploitation (orthophoto, GIS,...) • HIFSA: Aerial survey flights • Cartogesa: Feature extraction and edition • Terra XXI: Consultancy  Working since 1964  Belongs to the engineering firm Inypsa (public company in Madrid stock exchange)  R & D & Innovation division  International activity: • 80% turnover outside Spain • Subsidiaries in Portugal, Italy, Romania, Ecuador, Brazil and more. Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 2
  3. 3. Main resources and projects  One of Stereocarto strengths is massive data capture:  5 Digital cameras: • 3 Z/I DMC • 1 Leica ADS40 • 1 Leica RCD105  3 LiDAR systems • 2 Leica ALS50 II • 1 Leica ALS60  5 airplanes • 3 owned (Beechcraft B200, Cessna 402, 404) • 2 leased (Cessna 421, Piper Aztec)  Flight performance in 2009 • 300,000 sq. Km. digital aerial imagery • 100,000 sq. Km. LiDAR survey  Current biggest project • Ecuador (2/3 country – 240,000 sq. Km.): Aerial imagery, LiDAR and 50cm orthophoto Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 3
  4. 4. Powerline geometry studies objectives  Powerline analysis to detect potential clearance violations (points failing to keep security distances).  Powerline design, planning, maintenance, modification and rerating Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 4
  5. 5. LiDAR applied to powerlines  LiDAR is an excellent tool to model powerlines thanks to its unique features  Multiple returns capability  Uniform accuracy  High level of detail  High efficiency and productivity (e.g. bigger swath) Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 5
  6. 6. Information extracted from LiDAR data  Overhead cable modelling • Catenary parameters  Electricity pylons  Terrain in the Right-of-Way (ROW) corridor  Vegetation close to the powerline (inside and outside of the ROW).  Infrastructure and objects in the powerline surroundings. Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 6
  7. 7. Powerline applications of LiDAR  New lines planning  Existing lines inventory: • 3D modelling of high voltage powerlines with catenary extraction  Lines rerating or repowering • Thermal capacity analysis of transmission lines  Environmental: • Critical distances analysis to vegetation (forest fire prevention)  Obstacle analysis in the powerline ROW  Studies include capture at ambient conditions (wind and temperature) and simulations of extreme weather cases Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 7
  8. 8. Red Eléctrica de España (REE)  REE is the Spanish TSO (Transmission System Operator)  REE is the unique responsible of electricity transportation or transmission in Spain (Iberian Peninsule and islands)  REE manages nearly 40.000 Km of transmission powerlines, mainly 400 KV and 220 KV  Recently REE is using LiDAR technology to capture powerlines in maintenance, rerating and ROW vegetation management projects Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 8
  9. 9. REE transmission grid Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 9
  10. 10. Project objective  “Data acquisition with laser scanning technology (LiDAR) for determination of points with critical distances between high voltage cables belonging to the REE grid and trees or surrounding vegetation”  Area covered: 837 linear kilometers • 429 Km 400KV • 408 Km 220KV  The project was part of REE vegetation management program  It should identify areas where field brigades should remove danger trees and branches Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 10
  11. 11. Powerlines covered Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 11
  12. 12. Deliverables  Required data: • • • • Listing of critical distance points. Phase conductor with critical distance. Cross section to scale of every point with critical distance. Scale maps of each span containing points with critical distances to vegetation • Optionally point clouds  All data supplied in three different cases (one captured and two calculated): 1. 2. 3. Under existing temperature (measured) and wind conditions at the time of flight (Captured geometry) Zero wind and max wire load (usually 50ºC temperature) (Calculated geometry) 120 km/h wind across track and 15ºC. (Calculated geometry) Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 12
  13. 13. Schedule  Project done in summer  Flight planning and execution 2 weeks  Trajectory calculation 1 week  Point cloud and basic LiDAR post processing 2 weeks  Cable extraction, simulations and deliverables preparation 6 weeks Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 13
  14. 14. Technical resources Technical resources Model Manufacturer Helicopter Eurocopter Ecureuil AS350 B3 Eurocopter Laser scanner ALS 70-HP (Orig. ALS50II) Leica IMU IPAS 20 Leica Ground reference stations System 1200 Leica  Initially planned with our ALS50 II  Finally used a new ALS70 HP  Spacing parameters required the use of helicopter instead of fixed wing aircraft Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 14
  15. 15. ALS70-HP LS70-LP Laser Scanner SC70 System Controller LC60 Laser Controller MM70 Mass Memory OC50 Pilot Display GI40 Guidance Indicator OC52 Operator Display Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 15
  16. 16. Sensor mounting  LiDAR sensor mounted on Dart POD . ALS with / without RCD, Dart pod In cabin In pod Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 16
  17. 17. Sensor parameters  Main parameters: • Field of vision (FOV) • Pulse rate • Scan rate  Constraints: • Point density • Point spacing • Fooprint diameter  Other requirements: • • • • • Detectable object size Flying height Aircraft speed Swath width / Line spacing Relieve Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 17
  18. 18. Sensor parameters Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 18
  19. 19. Sensor parameters for cable capture  Cable detection •  Across track spacing equal to pulse footprint size is used – 12cm for 500 m flying height Line surrounding objects detection • Despite a 2-3m along track spacing would be enough to capture the cable and determine catenary parameters, ALS70-HP reached <30cm allowing detailed capture of vegetation and any object in the ROW and surroundings Flight direction Pulse footprint size 0,12cm Across track spacing 0,12cm Cable Along track spacing 0,27 to 0,90cm Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 19
  20. 20. Flight parameters Flight parameters Flying heigtht AGL Ground speed 500 40 (72) meters Knots(Km/h) LiDAR Parameter ALS50II ALS70-HP 150.000 500.000 FOV 28.5 28.5 deg Average point density > 28 > 95 pts/m2 > 250 > 250 meters Max point spacing across track 0,13 0,12 meters Max point spacing along track 0,90 0,27 meters Pulse rate Full swath width Units Hertz Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 20
  21. 21. Accuracy  Planned parameters result in: • Relative accuracy: • X, Y ~ 6 cm • Z ~ 7 cm • Required 0.50 m • Absolute accuracy: • X, Y ~ 25 cm • Z ~ 20 cm • Required 1 m Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 23
  22. 22. Workflow LiDAR & simulated data integration LiDAR flight planning and execution RAW Data Process Critical points determination New cable vectors Weather case generation Point cloud with critical points Point cloud Cable parameters Deliverable generation Classification Cable extraction Classified point cloud Catenary definition Application of dual output LiDAR scanning system for power transmission line data capture Plans & cross sections European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 24
  23. 23. LiDAR data process  Point cloud Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 25
  24. 24. LiDAR data process  Classification Overhead line Vegetation & buildings Application of dual output LiDAR scanning system for power transmission line data capture Pylon Terrain European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 26
  25. 25. LiDAR data process  Cable extraction • Determination of points belonging to the cable in the point cloud Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 27
  26. 26. Captured data  Critical points identification • Identification of potencial clearance violations under existing conditions at the time of flight Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 28
  27. 27. Captured data  Deliverable Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 29
  28. 28. Captured data  Deliverable Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 30
  29. 29. Captured data  Cross section Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 31
  30. 30. Weather case simulation  Catenary parameters and cable position determination under alternative scenarios or weather cases. • Maximum load condition • Conductor temperature increases and suffers dilatation so it gets closer to the ground. Case temperature defined by the customer, usually 50º. • Extreme across track wind situation. • At 15ºC, a 120 Km/h across track wind is considered, resulting in a deviation of the cable from the vertical plane. In nearly 1Km spans this means several meters.  Simulation done with PLSCADD and propietary software from Inypsa  Data had to be captured in a wide area around the powerline in order to take into account the new position of the overhead cable in the weather cases  The existing temperature conditions at the time of flight had to be registered to calculate the derived weather cases • This was done lowering the helicopter next to the powerline every 10-15 Km • Temperature was registered with a helicopter probe Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 32
  31. 31. Inypsa simulation application LiDAR data Overhead line modeling engine Conductors properties database Ambient Temp Insulators database Power line info catenary @ max T / max E. load Application of dual output LiDAR scanning system for power transmission line data capture catenary @ max crosswind pressure load European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 33
  32. 32. Simulated data  Point cloud Simulated cable Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 34
  33. 33. Simulated data  Point cloud cross section Cable simulation Wind case Cables Cable simulation Max load Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 35
  34. 34. Extreme wind case  Deliverable Simulated cable Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 36
  35. 35. Extreme wind case  Deliverable Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 37
  36. 36. Extreme wind case  Cross section Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 38
  37. 37. Alphanumeric deliverables  Critical points: • Data grouped by spans between pylons. • Cable parameter listings (captured and simulated). • Coordinate listings of critical points.  LiDAR data: • Point clouds (optional) Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 39
  38. 38. Critical distances Pylon Distance to pylon Cable clearance Object class East North Elevation 1 16,1 4,99 vegetation 333871,86 4215925,71 669,77 2 22,29 0,12 vegetation 334137,93 4216678,86 720,61 2 22,3 0,18 vegetation 334137,98 4216678,85 720,66 2 22,3 0,22 vegetation 334138,05 4216678,83 720,63 3 22,3 3,79 vegetation 334137,98 4216678,85 720,66 3 22,3 3,82 vegetation 334138,05 4216678,83 720,63 3 22,3 3,83 vegetation 334137,93 4216678,86 720,61 2 9,99 3,16 vegetation 334169,98 4216834,57 692,72 2 9,99 3,21 vegetation 334170,06 4216834,55 692,68 2 9,99 3,24 vegetation 334170,13 4216834,53 692,67 2 9,98 3,58 vegetation 334170,39 4216834,45 692,38 2 9,98 3,59 vegetation 334170,32 4216834,47 692,36 2 9,97 3,6 vegetation 334170,46 4216834,43 692,38 2 9,99 3,8 vegetation 334170,00 4216834,54 692,09 2 9,97 3,84 vegetation 334170,57 4216834,4 692,17 Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 40
  39. 39. Buildings clearance Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 41
  40. 40. Terrain clearance Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 42
  41. 41. Vegetation clearance  Growing vegetation Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 43
  42. 42. Vegetation clearance  Falling trees danger Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 44
  43. 43. High level of detail – pylon 1 Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 45
  44. 44. High level of detail – pylon 2 Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 46
  45. 45. High level of detail – pylon 3 Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 47
  46. 46. Weather case visualization  Maximum load cable modelling in Google Earth Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 48
  47. 47. Weather case visualization  Extreme across track wind (120 Km/h) cable modelling in Google Earth Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 49
  48. 48. Conclusions  ALS70-HP allows doubling flight speed over 80 knots without compromising spacing  Finally speed is only limited by helicopter maneuverability • Speed at bends • Terrain following with hight slopes  Point density and accuracy do not limit flight specification  Some consistency issues with input data • Pylon numbering • Pylon position  LiDAR data editing software considers catenaries contained in a vertical plane so it is not able to model the 120Km/h wind case as the catenary gets out of that plane. This forced the development of an specific sowtware tool to determine distance from cables in any position to obstacles, trees and ground. Application of dual output LiDAR scanning system for power transmission line data capture European LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 50
  49. 49. OFICINAS: STEREOCARTO, S.L. OFICINA CENTRAL: General Díaz Porlier, 49 28001 Madrid, España. Telf. +34 911211800 Fax: +34 914021609 España Portugal Italia Rumania Brasil Colombia Ecuador http://www.stereocarto.com European STEREOCARTO, S.L. LiDAR Mapping Forum Salzburg Congress Austria 29-30 Nov 2011 51

×