Correcting Scale, Roll and Heading in QT Modeler

ALTM
AIRBORNE LASER TERRAIN MAPPER
ACalibPro Analysis Tool
ALTM
AIRBORNE LASER TERRAIN MAPPER
Optech 100 Wildcat Road Toronto, Ontario M3J 2Z9 Canada Telephone: (01) 416-661-5904 Fax: (01) 416-661-4168 Email: altm_support@optech.on.ca Web: www.optech.on.ca
Document No. 0005830
Release A.0
12 Dec 02
COPYRIGHT
2002 by Optech Incorporated. All rights reserved. This item and the information contained herein are the property of Optech Incorporated. No part of this document may be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language or any computer language in any form or by any means otherwise, without the express written permission of Optech Incorporated, 100 Wildcat Road, Toronto, Ontario, Canada M3J 2Z9.
Table of Contents
1 2 Introduction............................................................................................................................. 1 Pitch Misalignment ................................................................................................................. 1 2.1 Data Required ..................................................................................................................... 1 2.2 Preparation of the Target Data............................................................................................ 1 2.2.1 Editing the Target File Manually ............................................................................... 2 2.2.2 Editing the Target File in ACalibPro ......................................................................... 3 2.3 Pitch Analysis ..................................................................................................................... 4 2.4 P/R Misalignment Parameters ............................................................................................ 4 2.5 Determining Pitch Correction............................................................................................. 5 2.6 Understanding the Log File ................................................................................................ 6 2.7 The Data View Window ..................................................................................................... 8 2.7.1 Colored Marks ........................................................................................................... 8 2.7.2 Operations .................................................................................................................. 9 Roll Misalignment................................................................................................................. 10 3.1 Data Required ................................................................................................................... 10 3.2 Direction of Offset Distance............................................................................................. 11 Elevation Analysis ................................................................................................................ 12 4.1 Data Required ................................................................................................................... 12 4.2 Preparing Control Points................................................................................................... 13 4.3 Parameters Setting ............................................................................................................ 13 4.4 Understanding the Log ..................................................................................................... 13 Scale Analysis ....................................................................................................................... 14 5.1 Data Required ................................................................................................................... 15 5.2 Parameter Settings ............................................................................................................ 15 5.3 Charts in Data View.......................................................................................................... 16 5.4 Understanding the Log ..................................................................................................... 17 Scan Lag Analysis................................................................................................................. 18 6.1 Data Needed for Scan Lag Analysis ................................................................................. 19 6.2 Understanding Charts ....................................................................................................... 19 6.3 Understanding the Log ..................................................................................................... 20
3 4
List of Figures
Figure 1:ALTM Profile Data ........................................................................................................... 2 Figure 2: Target Editor .................................................................................................................... 3 Figure 3: P/R Misalignment Parameters Setting.............................................................................. 4 Figure 4:Profile Calibration ............................................................................................................. 5 Figure 5: Data View Window Showing Profile Data ...................................................................... 8 Figure 6: Scans in Roll Misallignment .......................................................................................... 10 Figure 7: Calibrating Scan Lines ................................................................................................... 11 Figure 8: Open Elevation Analysis Data and Parameter Settings.................................................. 12 Figure 9: Scale Calibration Data.................................................................................................... 15 Figure 10: Scale Calibration Parameters ....................................................................................... 16 Figure 11: Scale Analysis Results ................................................................................................. 16 Figure 12: Scan Lag in Elevation and Range Data ........................................................................ 18
Optech Incorporated
1 Introduction
ACalibPro is an analysis tool used to calibrate ALTM survey data. The software can adjust laser shots by centimeters in roll, pitch, elevation, scale, and lag errors. The optimized analysis engine provides effective and fully automatic two-pulse analysis. Using this software can significantly improve the accuracy of the ALTMs data end product. The software includes analysis of the following: Pitch misalignment Roll misalignment Elevation analysis Scale calibration Lag Analysis
2 Pitch Misalignment
Pitch misalignment analysis consists of survey data acquired over a pre-measured target, usually a large building. Each time the aircraft passes over the target building, laser shots are fired in profile (i.e., non-scanning) mode. ACalibPro helps detect with greater precision the edges of the target building, which are reported by laser shots from every pass. The software detects first- and lastpulse laser shots respectively. It can also calculate the offset distances between the pulses and the true target edge in the flight direction.
2.1 Data Required

Pitch misalignment analysis requires the following data: Profiles data output by REALM in ENH (*.ASC) Target data (building coordinates)
2.2 Preparing the Target Data

Optech recommends using a cubic building with a flat roof as a target. The target building must be greater than 5 meters in height, and have at least two parallel long edges. The distance between the two edges must be wide enough so that more than 100 laser shots can register on the rooftop (e.g., > 40 m) (Figure 1).
Doc. No. 0005830 Release A.0 12 Dec 02
Optech Incorporated
Figure 1:ALTM Profile Data The corners of the target building must be measured with corresponding points in between. The edge between two consecutive points must be a straight line. The points must be in an ASCII file, and in a clockwise or counter-clockwise position in Easting, Northing, Height. The columns also must be right aligned.
2.2.1 Editing the Target File Manually

ACalibPro generates the lines used to calculate the offset distance calculation according to the points (rows) defined in the target file. Not every line is included in the calculation; therefore, you must indicate which line(s) are to be used. Any text editor may be used to open the target file. Insert the characters, "_*" (one space and one asterisk) and a hard return after the elevation, H. ACalibPro automatically chooses the marked row (point) together with the next row to generate a line for the calculation (black color). If the next line is unwanted, insert "_ _" (two spaces) and a hard return after the elevation, H. The program will ignore the lines marked with the two spaces (blue color) and choose the next line. If the last row in the file is chosen, the program will choose the first row as the second point of the line.
Optech Incorporated
2.2.2 Editing the Target File in ACalibPro

Another method for editing the target points is to use AcalibPros Edit Target function. From the main menu select File > Edit Target. The EdiTar window will appear (Figure 2).
Figure 2: Target Editor
1. Load the target file by clicking on the Import button. The left side of the interface shows the point data of the target (X Y Z). The right side of the interface shows the shape of the target and the selected lines (black color). The points have to be in order in a clockwise or counter clockwise direction. 2. Highlighting a value from the Easting (X) column in the data window will produce an X at this point in the Target frame on the right side of the window (Figure 2). If required, the value may be edited in the three X Y Z windows above the data point columns. 3. Check the Select box to mark the point. Selecting the point indicates that this line (consisting of this point and the next point) will be used in the calibration as a reference line.
Note: If the point was previously selected, then it will be deselected.
4. Click on the Set button to select that point in the window. An asterisk ( * ) is appended to the end, and the line color changes to black. 5. If the points are out of order (check the Target frame in the right side of the data window), highlight the misplaced point and use the Move Up and Move Down buttons to position the point correctly. Use the keyboards arrow keys ( ) to move through the points to adjust the sequence. Click on the Insert button to add points. The sequence of points is very important because the program generates lines by every two continuous points. Do not use the zone number with the Easting (X) value even if it appears in the elevation data.
Optech Incorporated
2.3 Pitch Analysis

There are three ways to begin the pitch analysis. 1. From the main menu select File > Open > P/R Misalignment (Pitch/Roll Misalignment). 2. From the main menu select P/R Misalignment > Open Files. 3. Click on the P/R Misalignment icon in the tool bar.
The Open Pitch/Roll Misalignment Data window appears. First, browse to the data file to be analyzed. Next, browse to the target file (building points). A log file will be created and written to a predefined location (i.e., a default path that can be modifed by the user). See Section 2.4 for information on the P/R Misalignment Parameter settings.
2.4 P/R Misalignment Parameters

All the parameters needed for P/R Misalignment are set in the P/R Misalignment Parameters window (Figure 3). The parameters help the program determine which shots are the start and end of a pass over the target buildings roof.
Figure 3: P/R Misalignment Parameters Setting
Optech Incorporated
Parameters
Control Distance The maximum distance the shots can be from the target before the program starts to analyze the data to determine the elevation break point. Minimum shots per pass The minimum number of shots required per pass for inclusion in the analysis. Minimum Building Height The minimum height required for the building. Flight Height The altitude (in meters) at which the aircraft surveys the building. Threshold on Edge The program compares every laser shot with buildings pre-measured height until it finds a shot within the threshold values plus or minus range. The program tags this shot as the start or end point of a pass. The larger the threshold, the faster the program will find a shot. The smaller the threshold, the longer the program will take to find a shot. Threshold on Roof This value specifies which laser shot is still on the roof. The parameter is designed for a non-flat roof. Generally, it will not affect the results, but if it finishes a pass in the middle of the building the values is too small; if it finishes the pass beyond the edge of the building the value is too large. Constant Corrections Used These help keep track of the different system parameters used during calibrations. These values are not used in the softwares calculations. Once the P/R Misalignment Parameters are entered, click OK to begin the pitch analysis.
2.5 Determining Pitch Correction

What is measured is the distance from the laser point to the edge of the building. Depending on the direction of the trajectory ,the shots will either need to be corrected positive (i.e., with the direction of the flight path), or negative (i.e., against the direction of the flight path). For example, in Figure 4, the values are negative because the laser shots need to be corrected back to the edge of the building. The arrows indicate the direction of the flight paths.
Figure 4: Profile Calibration
Optech Incorporated
2.6 Understanding the Log File

ACalibPro outputs the processing history and results in the console window and log file. The location of this log file is determined at the beginning of the processing.
>Target file E:\DATA\CALIB\NEWTARGETR.TXT loaded! 27 control points include, 4 line(s) were selected. >Data file R:\Output\02d132\Calib_TO\03402\Pitch\ND\TimeLp_0.all is loading, please wait... >Two pulse profile, 657011 shots loaded, 703015 total in the file. >6 strips found!
The above information indicates that the target and the data files are loading. ACalibPro reads the number of points in the file, whether it is a profile or scan and the number of strips.
>Average elv. of shots on edge T1:237.541 T2:237.260. In target file, it is 237.550. T1 was used!
The average elevation of the edge is reported. The difference between the first- and last-pulse laser shots and the target indicates the quality of the data. The recommended default value of the Threshold on Edge is 0.30 m. Increasing or decreasing this value will affect the results by including or excluding data in the final totals.
>6 pass(es) of laser shots found on top of target building: Pass# StepOn StepDown __________________________________________________________________________________________________________ Strip 1: 60557.51123 - 60561.43035 Ave. elv. of shots on edges: 237.360 1. 0: 237.49 231.76 122 1: 237.26 237.30 65038 2: 237.53 237.57 103 3: 237.47 227.33 1 60558.4250 Strip 2: 60804.73344 - 60807.42717 Ave. elv. of shots on edges: 237.290 2. 0: 237.48 227.46 76 1: 237.30 237.29 43220 2: 237.24 237.27 87 3: 237.57 231.70 1 60805.4551 Strip 3: 61073.94520 - 61077.84806 Ave. elv. of shots on edges: 237.343 3. 0: 237.54 227.35 133 1: 237.30 237.35 65111 2: 237.57 237.60 0 3: 237.57 237.60 0 61074.9167 Strip 4: 61344.93046 - 61347.67588 Ave. elv. of shots on edges: 237.280 4. 0: 237.37 229.90 84 1: 237.27 237.31 46306 2: 237.27 237.18 101 3: 237.55 231.75 1 61345.6181 Strip 5: 61635.20718 - 61639.09758 Ave. elv. of shots on edges: 237.237 5. 0: 237.45 226.33 550 1: 237.00 237.04 67420 2: 237.35 237.30 526 3: 237.60 227.64 1 61636.0161 Strip 6: 61903.83102 - 61906.59294 Ave. elv. of shots on edges: 237.155 6. 0: 237.55 227.53 406 1: 237.19 237.18 46528 2: 236.97 236.96 332 3: 237.53 226.24 1 61904.5366 ___________________________________________________________________________________________________________ * 0: T1 step on 1: T2 step on 2: T2 step down 3: T1 step down pass start
60560.4462 60806.7743 61076.8798 61347.0291 61638.0717 61905.9551 pass end
The software finds the first and the last laser shots of every pass over the target roof. The program calculates the distances between the points and the edges by first- and last-pulse respectively. The four points are determined sequentially, and the program marks the stages numerically: 0 The first column indicates when the first-pulse has stepped onto the building top. The lastpulse may or may not have stepped onto the building. The next number indicates how many shots it takes until both the first- and last-pulse points step onto the top of the building. 1 Both the first-pulse and the last-pulse have stepped onto the top of the building. The next number indicates how many shots hit the top of the building from the beginning to the end of that particular pass.
Optech Incorporated
2 The first-pulse is still on the top of the building and the last-pulse has stepped off. The next number indicates how many shots until both shots have stepped off the building. 3 Both the first and last-pulse points have stepped off the building. The last two values are the start and end times of the passes. The times are displayed as GPS time.
>Calibration distances calculated by every pass (m): First-pulse Value Last-pulse Value Middle Value Pass # StepOn StepDwn StepOn StepDwn ______ _____________ _____________ 1. 0.355 0.060 0.092 0.274 2. 0.121 -0.122 -0.097 0.131 3. 0.329 0.030 0.056 0.030 4. 0.150 -0.126 -0.087 0.125 5. 1.062# -0.390 -0.089 0.577 6. 0.760 -0.435 -0.238 0.514 ______ _____________ _____________ Min: -0.435 -0.238 Max: 0.760 0.577 StDev: 0.343 0.245 RMS: 0.350 0.268 Count: 11 12 Ave: 0.067 0.107 Accur 0.329 63.6% 0.131 66.7% ______ __________________________________ Ave T1 & T2: 0.088 Ave: Count: 23 Count: _____________ _____________ _____________ First-pulse Value Last-pulse Value Middle Value StepOn StepDwn _____________ 0.224 0.166 0.012 0.004 0.193 0.030 0.031 -0.000 0.487 0.093 0.261 0.039 _____________ -0.000 0.487 0.146 0.194 12 0.128 0.166 66.7% _____________ 0.128 12
This section gives the object points found in the passes, and calculates distances by points, then provides the corresponding statistics. Averaging T1 and T2 will indicate an accurate distance. Values marked by the character # will be discarded by statistics because (a) the values are greater than the specified control distance; (b) the laser shot has connected with an edge, which has not been selected as a reference line.
-- Parameters Set -Control Distance: 1.000 Min Building Height: 3.000
Min shots per pass: 100 Threshold on Edge: 0.800 Threshold on Roof: 3.000
Parameter settings set at the beginning of ACalibPro used for the processing.
-- Constant Corrections Used -Pitch: Roll: Offset1: Offset2: End time: 15:33:25, 06/25/2002 Heading: Offset: Scale:
Constant corrections are used for tracking purposes only.
Optech Incorporated
2.7 The Data View Window

The processed data and calibration target are depicted in the Data View window (Figure 5).
Figure 5: Data View Window Showing Profile Data
2.7.1 Colored Marks

Target building: Black lines are the edges selected for use in the calculations. Light blue lines are edges not used. Red points: Laser shots detected on the building roof. Blue points: Laser shots detected on the ground. Black points: First-pulse laser shots on the building roof only. Red rectangle: Start or end laser shots of a pass over the roof detected by first-pulse. Red line: Distance, direction and crossing point from the red rectangle point to the edge. Green rectangle: The start or end shot of a pass over the roof detected by last-pulse.
Optech Incorporated
Green line: The distance, direction and crossing point from the green rectangle point to the edge. Blue circle: The middle point, a point created by the program between the first and last-pulse shots. Blue Line: The distance, direction and crossing point from the middle point to the edge. Shallow blue rectangle and line: A shot found touching the unselected edge; shot ignored. Gray rectangle and number: The start point of a strip and the strip number. Gray circle: The end of a strip.
2.7.2 Operations
Zoom In: Left click in the Data View window. Zoom Out: Ctl + left click. Zoom to Default Size: Shift + click. Now the default size is 2000:1. Hide/Show Strips: Click the start or end mark of a strip.
Optech Incorporated
3 Roll Misalignment
Like pitch analysis, there are three ways to start roll misalignment analysis: 1. From the main menu select File > Open > P/R Misalignment. 2. From the main menu select P/R Misalignment > Open Files. 3. Click on the P/R Misalignment icon in the tool bar.
The same parameters are also used. ACalibPro will output the result of scans in the console and the data view window (Figure 6).
Figure 6: Scans in Roll Misalignment
3.1 Data Required

Roll misalignment analysis requires the following data: Scans data output by REALM in ENH (*.ASC). Target data (building coordinates)
10
Optech Incorporated
3.2 Direction of Offset Distance

In the scans analysis the data are made up of scan lines that move from right to left and left to right. If the scan is from right to left, the correction is negative. If the scan is from left to right, the correction is positive. Figure 7 depicts scan lines over a building rooftop with the flight direction indicated. Scan line A is moving right to left. Therefore, the correction needed is negative. Scan line B is moving left to right so the corresponding correction would be positive. Scan line C is then moving right to left, and would require a negative correction. These corrections would continue this pattern for all scan lines on the building top.
Figure 7: Calibrating Scan Lines
11
Optech Incorporated
4 Elevation Analysis
Like roll misalignment analysis, there are three ways to start the elevation analysis: 1. From the main menu select File > Open > Elevation Analysis. 2. From the main menu select Elevation Analysis > Open Files. 3. Click on the Elevation Analysis icon in the tool bar.
After entering the parameters click on OK (Figure 8). The analysis compares the laser shots with some pre-measured points from a large, flat, hard surface (usually a runway). The differences found between the laser shots and the control points are used to calibrate and correct parameters such as TIM corrections, roll, scale and lag.
Figure 8: Open Elevation Analysis Data and Parameter Settings
4.1 Data Required

Elevation analysis requires the following data: Elevation data (*.ASC) in ENH from REALM. Control points (runway data)
12
Optech Incorporated
4.2 Preparing the Control Points

All the control points must be in the format of Easting, Northing, Height (without zone number). Every column must be right-aligned.
4.3 Parameters Setting

Browse to the appropriate data and control files (Figure 8). Search Settings Radius The radius of laser shots surrounding a control point that is compared with that control point. Vertical Control Distance If a laser shot is within the radius of a search area but the vertical distance between it and the control point is greater than the size of the radius, it will not be compared. Max Radius in Pre-search A pre-search function for reducing the size of data sets and number of comparisons.
Constant Corrections Used These parameters are not involved in the calculations.
4.4 Understanding the Log File

The log file begins with stating what files have been loaded, the total number of shots and the number of strips. In addition, the search radius used in the statistical analysis is given.
>Control file E:\SCALETEST\OUTPUT\RUNCONTROLENZ.PTS, 2087 control points loaded! >Data file E:\Scaletest\output\South 3.asc is loading, please wait... (REALM3.03 format) >Two pulse (REALM 3.03 #011025)scan, 20174 shots loaded, 35893 total in the file. >1 strip found! >Statistic Results: Search Radius=0.500
The next section shows the processed laser points and the statistical results that the software has determined. The results indicate that TIM 1 is .076m away from the ground control after comparison. TIM 2 is .133m away from the ground control. Therefore, the corrections to the TIM values would be the original values used in the processing plus these respective values. Making this correction in the REALM software and re-testing should produce a lower average for T1-Ctrl and T2-Ctrl.
13
Optech Incorporated
-- Elevation (m) -T1 T1-Ctrl T2 T2-Ctrl T1-T2 98.740 0.041 98.790 0.091 -0.050 99.140 0.090 99.200 0.150 -0.060 . . . 98.990 0.095 99.040 0.145 -0.050 ____________________________________________________________________________ Min 97.370 -0.246 97.430 -0.186 -0.100 Max 100.560 0.322 100.620 0.372 -0.040 Stdev 0.993 0.127 0.995 0.128 0.012 RMS 99.028 0.148 99.086 0.185 0.058 Count 47 47 47 47 47 Ave 99.023 0.076 99.081 0.133 -0.057 Accur 1.183 66.0% 0.158 68.1% 1.189 68.1% 0.187 68.1% 0.060 0.150 59.6% 0.150 48.9%
76.6%
The columns processed include:

T1-Ctrl: T2-Ctrl: T1-T2: Elevation difference between TIM1 and TIM2. Doc. No. 0005830 Release A.0 12 Dec 02
T1:
Elevation difference between TIM1 and control.
T2:
5 Scale Analysis
Scale Analysis is based on the results of the runway analysis. It calculates all the differences between the nadir and the laser shots. The program evaluates how much scale can be eliminated from these differences. The software determines the difference in the exact scan angle of TIM1 and TIM2 respectively. The output shows an approximate calibration result chart by the average scale of TIM1 (Figure 11).
14
Elevation difference between TIM2 and control.
Elevation from TIM1.
Elevation from TIM2.
Optech Incorporated
Figure 9: Scale Calibration Data
5.1 Data Required

Scale analysis requires the following data (Figure 9): Elevation Data (laser data) Control Points (surveyed data points) Laser Data (*.LSR) Time Tag (*.TAG)
The flight must be perpendicular to the control area (runway). One strip is recommended for each processing session.
5.2 Parameter Settings

Like elevation analysis, there are three ways to start the scale analysis: 1. From the main menu select File > Open > Scale Analysis. 2. From the main menu select Elevation Analysis > Open Files. 3. Click on the Scale Analysis icon in the tool bar.
At the Open Scale Calibration Data window (Figure 9), click on the Parameters button to open the Elevation Analysis Parameters window (Figure 10). The Search Settings field remains the same as for the Elevation Analysis. In the Constant Corrections Used field the scale value that was used in processing must be typed into the Scale box. If it is not, then the program assumes a default scale value of 1.000. If the processing occurs with the default scale set to 1.00 then the resulting average scale must be corrected. This value is based on 1.000, and must be multiplied by the scale value used in processing. This product will be the new scale value.
15
Optech Incorporated
Figure 10: Scale Calibration Parameters
5.3 Charts in Data View

The charts, arranged by scan angle, show the visible results of how the scales affect the data (Figure 11). The first chart, T1-Ctr, Scale=1.00000, shows the elevation differences between TIM1 and control points by every scan angle. The second chart, T1-Ctr Calibrated, Scale=0.999146, shows the new elevation difference after calibration by the new scale.
Figure 11: Scale Analysis Results
16
Optech Incorporated
5.4 Understanding the Log

Once ACalibPro has finished processing the data, an average scale is determined. This value is used to reprocess the data in the REALM processing software. However, if the processing occurs with the default scale set to 1.00, then the resulting average scale must be corrected. This value is based on 1.000 and must be multiplied by the scale value used for processing. In this example, the original scale was 1.0096, and the T1-Ctr Calibrated Scale = 0.999146. The resulting product is 1.008737, which is the new scale.
Scan# Angle 94 120 151 254 279 329 . . . 4092 -19.0818 -18.8278 -18.5250 -17.5189 -17.2747 -16.7863 T1-Ctr. T2-Ctr. Scale1 -0.130 -0.103 -0.135 0.001 -0.047 0.031 -0.080 -0.053 -0.095 0.051 0.013 0.071 1.01122 1.01107 1.01132 1.01038 1.01084 1.01021 Changed 0.21566 0.18867 0.22066 0.08466 0.13266 0.05466 Height 1150.307 1149.220 1150.601 1149.401 1149.428 1148.220 Range 1217.190 1214.190 1213.480 1205.310 1203.730 1199.330 Scale2 1.01137 1.01122 1.01155 1.01046 1.01093 1.01049 Changed 0.23567 0.20867 0.25066 0.10467 0.14267 0.08467 Height 1150.307 1149.220 1150.601 1149.401 1149.428 1148.220 Range 1217.690 1214.690 1213.980 1205.800 1204.220 1199.830
19.9707
0.135 0.095 1.0096# -0.17666 ---------------------------------------------
1075.858
1144.620
1.0096#
-0.12678 1075.858
1144.160
Ave Scale: 1.008737
The listed columns are:

Changed Changed Scan # Scale1 Scale2
Height
Height
Range
The TIM1 adjustment value, value needed to bring the laser shot to the elevation reported at nadir
The approximate distance between the airplane and ground for TIM1
The TIM2 adjustment value; the value needed to bring the laser shot to the elevation reported at nadir
The approximate distance between the airplane and ground for TIM2
TIM1 scale value calculated for the laser shot at the reported angle
TIM2 scale value calculated for the laser shot at the reported angle
Reported scan steps
TIM1 elevation minus the Control point
TIM2 elevation minus the Control point
Reported angle for the laser shot
TIM1 range reported
TIM2 range reported
Range
T1-Ctr
T2-Ctr
Angle
17
Optech Incorporated
6 Scan Lag Analysis

ALTM models operating at 50 kHz can exceed the electronic circuitrys capacity to accurately read the associated scan angle of a particular laser shot before the next laser shot is returned. The software analyzes the laser shots on opposing forward and backward scans, and determines if any scan lag exists in the elevation and range data (Figure 12). The product of the analysis is a time correction used to determine the angle of the laser shot. The timing correction is in microseconds. This correction will allow the correct angle to be associated with the appropriate laser shot. This correction is applied to the ALTM processed data. Although scan lag is apparent in ALTM models operating at 50 kHz, it can occur in any ALTM.
Figure 12: Scan Lag in Elevation and Range Data
After the scale calibration, go to the main menu and select Scale Analysis > Scan to Scan Analysis. (Or click on the Scan Analysis icon from the tool bar). Two options follow: 1. By All Data 2. By Data Within Polygon By All Data is the square polygon around the area containing the runway. By Data Within Polygon refers only to those points that fall over the runway. The program will present the data list, elevation charts, and range and intensity differences by opposing forward and backward scans. The information is presented in both the console and the data view window.
18
Optech Incorporated
6.1 Data Required for Scan Lag Analysis

Scan lag analysis requires the following data: Elevation Data (output from REALM Software) Control points (control points of the runway) Range Data (*.LSR) (file location determined from the tape decode report) Time Tag (*.TAG) (file location determined from the tape decode report)
The flight perpendicular to the control area (runway) is recommended.
6.2 Understanding Charts

The program classifies the analysis results by scan angle, and shows the differences by angle in the charts. The differences include elevation, range, intensity, TIM1 and TIM2 respectively; however, it only shows the TIM1 results (Figure 12). T1 Elv. Dif. Between Forward and Backward Scan The dots represent the average elevation difference between two scans in a certain scan angle between -20 and +20 degrees. All the dots should be around zero. If they are distributed along a sloped line crossing zero area, then the scan lag was present in the elevation data. T1 Range Dif. Between Forward and Backward Scan The dots represent the average range difference between two scans in a certain scan angle between -20 and +20 degrees. All the dots should be around zero. If they are distributed along a sloped line crossing the zero area, then the scan lag was present in the system hardware. Intensity1 Dif. Between Forward and Backward Scan All the dots should be around the zero area.
19
Optech Incorporated
6.3 Understanding the Log

>Difference calculated by forward scan and backward scan Scan# Elv1-Elv1 TIM1-TIM1 Elv2-Elv2 4 0.02 -0.00 0.02 5 0.02 -0.01 0.02 6 0.04 -0.04 0.04 7 0.03 -0.02 0.03 8 0.06 -0.05 0.06 9 0.05 -0.03 0.06 10 0.08 -0.06 0.08 11 0.04 -0.02 0.05 . . . 4089 -0.03 0.03 -0.03 4090 -0.03 0.02 -0.02 TIM2-TIM2 -0.00 -0.01 -0.04 -0.02 -0.05 -0.04 -0.06 -0.03 Int1-Int1 -0.29 -1.12 0.03 -1.02 0.27 -0.28 -1.89 -0.05 Int2-Int2 -0.29 -1.12 0.03 -1.02 0.27 -0.28 -1.89 -0.05
0.03 0.01
-1.41 -0.72
-1.41 -0.72
The listed columns are:

TIM1-TIM1 TIM2-TIM2 Elv1-Elv1 Elv2-Elv2 Int1-Int1 Int2-Int2 Intensity2 difference between forward and backward scan Scan #
Elevation1 difference between forward and backward scan
Elevation2 difference between forward and backward scan
Range1 difference between forward and backward scan
Range2 difference between forward and backward scan
- Scan Lag Stats By Elevation 1 Angle (deg): Time (s): By Range 1 Angle (deg): Time (s): Ave Min Max -0.00078 -0.01998 0.01998 0.2983 -7.4903 7.6658 Ave Min Max -0.00038 -0.02000 0.02000 0.1163 -7.6273 7.4966 StDev 0.00842 2.8715 StDev 0.01010 3.4302 RMS 0.00846 2.8870 RMS 0.01011 3.4322 Count 5639 5637 Count 4607 4605
Two types of scan lag are analyzed in the program: 1. Angle in degree 2. Time in microseconds for both Elevation1 and Range1. Usually, the average values are applied to re-adjust the laser shots in REALM; but in scan lag calibration, because the adjustment is very small and is greatly affected by noise, the average values
20
Intensity1 difference between forward and backward scan
Reported scan steps
Optech Incorporated
calculated cannot be used. To decide the accurate value of the scan lag, the standard deviation and RMS are considered. Because the standard deviation and RMS are always positive, they are compared with the average to determine the sign for the correction value. This correction value is then applied in REALM, and re-tested in ACalibPro. The correction in this case is 3 s.
21

Correcting Scale, Roll and Heading in QT Modeler

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Correcting Scale, Roll and Heading in QT Modeler

Uploaded by

Copyright:

Available Formats

ALTM

AIRBORNE LASER TERRAIN MAPPER

ACalibPro Analysis Tool

ACalibPro Analysis Tool

Document No. 0005830

ACalibPro Analysis Tool

2.1 Data Required

2.2 Preparing the Target Data

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

2.2.1 Editing the Target File Manually

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

2.2.2 Editing the Target File in ACalibPro

Figure 2: Target Editor

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

2.3 Pitch Analysis

2.4 P/R Misalignment Parameters

Figure 3: P/R Misalignment Parameters Setting

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

2.5 Determining Pitch Correction

Figure 4: Profile Calibration

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

2.6 Understanding the Log File

60560.4462 60806.7743 61076.8798 61347.0291 61638.0717 61905.9551 pass end

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

Constant corrections are used for tracking purposes only.

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

2.7 The Data View Window

Figure 5: Data View Window Showing Profile Data

2.7.1 Colored Marks

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

Figure 6: Scans in Roll Misalignment

3.1 Data Required

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

3.2 Direction of Offset Distance

Figure 7: Calibrating Scan Lines

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

Figure 8: Open Elevation Analysis Data and Parameter Settings

4.1 Data Required

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

4.2 Preparing the Control Points

4.3 Parameters Setting

4.4 Understanding the Log File

Doc. No. 0005830 Release A.0 12 Dec 02

ACalibPro Analysis Tool

The columns processed include:

Elevation difference between TIM1 and control.

Elevation difference between TIM2 and control.

Elevation from TIM1.

Elevation from TIM2.

ACalibPro Analysis Tool

Figure 9: Scale Calibration Data