Lightweight UAV Laser Scanner with Online Waveform Processing
®
RIEGL VUX-1UAV • 10 mm survey-grade accuracy • scan speed up to 200 scans / second • measurement rate up to 500,000 meas./sec (@ 550 kHz PRR & 330° FOV) • operating flight altitude up to more than 1,000 ft • field of view up to 330° for practically unrestricted data acquisition • regular point pattern, perfectly parallel scan lines • cutting edge RIEGL technology providing: - echo signal digitization - online waveform processing - multiple-time-around processing • multiple target capability practically unlimited number of target echoes • compact (227x180x125 mm), lightweight (3.5 kg), and rugged • easily mountable to professional UAS / UAV / RPAS • mechanical and electrical interface for IMU mounting • electrical interfaces for GPS data string and Sync Pulse (1PPS) • LA LAN-TCP/IP A NN-TC N-TC TCP/ P IP IP iinterface nter nt ter erfa face ce e • sc scan ca an n data dat ata storage stor st orrage o ag ge on n internal int nter errna al 240 24 40 GByte GB GByt Byt yte e SSD SS S SD Memory Memo Me mory mo y
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Unmanned Laser Scanning
The RIEGL VUX-1UAV is a very lightweight and compact laser scanner, meeting the challenges of emerging survey solutions by UAS/UAV/RPAS both in measurement performance as in system integration. With regard to the specific constraints and flight characteristics of UAS, the RIEGL VUX-1UAV is designed to be mounted in any orientation and even under limited weight and space conditions. Modest in power consumption, the instrument requires only a single power supply. The entire data set of an acquisition campaign is stored onto an internal 240 GByte SSD and/or provided as realtime line scan data via the integrated LAN-TCP/IP interface. The RIEGL VUX-1UAV provides highspeed data acquisition using a narrow infrared laser beam and a fast line scanning mechanism. Highaccuracy laser ranging is based on RIEGL´s unique echo digitization and online waveform processing, which enables achieving superior measurement results even under adverse atmospheric conditions, and the evaluation of multiple target echoes. The scanning mechanism is based on an extremely fast rotating mirror, which provides fully linear, unidirectional and parallel scan lines, resulting in excellent regular point pattern.
Typical applications include • Agriculture & Forestry • Archaeology and Cultural Heritage Documentation Corridor Mapping: • Co Power Line, Railway Track, and Po Pipeline Inspection Pip Topography in Open-Cast Mining • Top Construction-Site Monitoring • Co Surveying of Urban Environments • Su Resources Management • Re
Technical Data RIEGL VUX®-1UAV Laser Product Classification
Range Measurement Performance Measuring Principle
Laser Pulse Repetition Rate PRR 1) Max. Measuring Range 3) 4) natural targets ≥ 20 % natural targets ≥ 60 % Max. Operating Flight Altitude AGL 1) 5) Max. Number of Targets per Pulse
Class 1 Laser Product according to IEC60825-1:2007 The following clause applies for instruments delivered into the United States: Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007.
time of flight measurement, echo signal digitization, online waveform processing, multiple-time-around-processing 50 kHz
100 kHz
550 m 920 m 350 m (1150 ft)
400 m 660 m 250 m (820 ft)
200 kHz
300 kHz
380 kHz
550 kHz full reduced power power 2)
280 m 230 m 200 m 170 m 480 m 400 m 350 m 300 m 180 m 150 m 130 m 110 m (590 ft) (490 ft) (430 ft) (360 ft) practically unlimited (details on request)
85 m 150 m 55 m (180 ft)
1) Rounded values. 2) Laser power optimized (reduced) for measurements of short ranges with high pulse repetition rate. 3) Typical values for average conditions. 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 23 km. In bright sunlight, the max. range is shorter than under overcast sky. 4) Ambiguity to be resolved by post-processing with RiMTA ALS software. 5) Reflectivity ≥ 20%, flat terrain assumed, scan angle ±45° FOV
Minimum Range Accuracy 6) 8) Precision 7) 8) Laser Pulse Repetition Rate 1) 9) Max. Effective Measurement Rate 1) Echo Signal Intensity Laser Wavelength Laser Beam Divergence Laser Beam Footprint (Gaussian Beam Definition) 6) Accuracy is the degree of conformity of a measured quantity to its actual (true) value. 7) Precision, also called reproducibility or repeatability, is the degree to which further measurements show the same result.
Scanner Performance
3m 10 mm 5 mm up to 550 kHz up to 500 000 meas./sec. (@ 550 kHz PRR & 330° FOV) for each echo signal, high-resolution 16 bit intensity information is provided near infrared 0.5 mrad 10) 50 mm @ 100 m, 250 mm @ 500 m, 500 mm @ 1000 m 8) One sigma @ 150 m range under RIEGL test conditions. 9) User selectable. 10) Measured at the 1/e2 points. 0.50 mrad corresponds to an increase of 50 mm of beam diameter per 100 m distance.
Scanning Mechanism Field of View (selectable) Scan Speed (selectable) Angular Step Width (selectable)
rotating mirror up to 330° (full range measurement performance) 10 - 200 revolutions per second, equivalent to 10 - 200 scans/sec 0.006° ≤ ≤ 1.5°
Angle Measurement Resolution Internal Sync Timer Scan Sync (optional)
0.001° for real-time synchronized time stamping of scan data scanner rotation synchronization
between consecutive laser shots
Data Interfaces Configuration Scan Data Output GNSS Interface
Internal Memory External Camera External GNSS Antenna
General Technical Data
Power Supply Input Voltage / Consumption 11) Main Dimensions 11)
11 - 32 V DC / typ. 60 W
VUX-1UAV without / with Cooling Fan Device
227 x 180 x 125 mm / 227 x 209 x 129 mm
VUX-1UAV without / with Cooling Fan Device
approx. 3.5 kg / approx. 3.75 kg max. 80 % non condensing @ 31°C IP64, dust and splash-proof 16 500 ft (5 000 m) above MSL / 18 000 ft (5 500 m) above MSL 0°C up to +40°C (operation) / -20°C up to +50°C (storage)
Weight 11)
Humidity Protection Class Max. Flight Altitude (operating / not operating) Temperature Range 12)
Optional Components (integrated) Embedded GNSS-Inertial System
11) without external IMU/GNSS, cooling fan device not in operation 12) The instrument requires air convection with a minimum flow rate of 5 m/s for continuous operation at +15 °C and above. If the necessary flow rate cannot be provided by the moving platform, the cooling fan device (included in the scope of delivery) has to be used.
2
LAN 10/100/1000 Mbit/sec LAN 10/100/1000 Mbit/sec or USB 2.0 Serial RS232 interface for data string with GNSS-time information, TTL input for 1PPS synchronization pulse 240 GByte SSD TTL input/output SMA connector
high performance multi-channel, multi-band GNSS receiver, solid-state MEMS IMU
Maximum Measurement Range & Point Density RIEGL VUX®-1UAV PRR = 50 kHz
PRR = 50 kHz
1200
terra cotta
24
200
cliffs, sand, masonry
construction concrete
400
80
85
420
280
Operating Flight Altitude AGL
MTA1
1500
1000
Point Density [pts/m2]
2000 560
white marble
dry asphalt
dry snow
28
700
600
0
[ft]
2500
white plaster work, limestone
800
deciduous trees
Maximum Measurement Range [m]
1000
coniferious trees
wet ice, black tar paper
[m]
5
10
15
20
25
30
35
40
45
50
55
60
65
70
75
16
30
12 40
70
8
55
0
0
25
0
0
m
m
range to target
m
m
0m
500
140
4
0
0
0
20
90
2
6
4
8
10
7DUJHW5HÀHFWLYLW\>@
MTA1: no ambiguity / one transmitted pulse „in the air”
@ visibility 23 km @ visibility 15 km @ visibility 8 km
Example:
PRR = 100 kHz terra cotta
[ft]
1500
1000
Point Density [pts/m2]
85
280
Operating Flight Altitude AGL
white marble
cliffs, sand, masonry
construction concrete
80
420
15
20
25
30
35
40
45
50
55
60
65
70
75
30
30
50
40
25
0
20 0
m
0
10
0 2
90
6
4
8
@ visibility 23 km @ visibility 15 km @ visibility 8 km
10
terra cotta
Example:
[ft]
80
85
280
140
Operating Flight Altitude AGL
white marble
cliffs, sand, masonry
construction concrete
200
420
1500
1000
30
35
40
45
50
55
60
65
70
75
125
100
75 35
50
27
22
18
0
0 m 0m
m
15 0
0
m
m
range to target
500
25
0
25
Point Density [pts/m2]
2000
400
20
VUX-1UAV at 100,000 pulses/second range to target = 250 m, speed = 8 kn Resulting Point Density ~ 15.5 pts/m²
150
560
MTA1
15
16
175
700
600
10
14
2500
white plaster work, limestone
deciduous trees
dry asphalt
coniferious trees
Maximum Measurement Range [m]
dry snow
wet ice, black tar paper
[m]
5
12
PRR = 200 kHz
1200
0
20
range to target
0 m 0m
500
140
PRR = 200 kHz
0
18
m
m
Speed [kn]
MTA1: no ambiguity / one transmitted pulse „in the air”
800
20
40
7DUJHW5HÀHFWLYLW\>@
1000
18
50
20
0
10
VUX-1UAV at 50,000 pulses/second range to target = 400 m, speed = 6 kn Resulting Point Density ~ 6.5 pts/m²
60
2000
200
5
20
70
700
560
400
0
18
MTA1
600
0
16
2500
white plaster work, limestone
deciduous trees
dry asphalt
coniferious trees
Maximum Measurement Range [m]
dry snow
wet ice, black tar paper
[m]
800
14
PRR = 100 kHz
1200
1000
12
Speed [kn]
90
0 2
4
6
8
10
7DUJHW5HÀHFWLYLW\>@
MTA1: no ambiguity / one transmitted pulse „in the air”
12
14
16
Speed [kn] @ visibility 23 km @ visibility 15 km @ visibility 8 km
Example:
VUX-1UAV at 200,000 pulses/second range to target = 180 m, speed = 10 kn Resulting Point Density ~ 34 pts/m²
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 • operating flight altitude given at a FOV of +/-45°
3
Maximum Measurement Range & Point Density RIEGL VUX®-1UAV PRR = 300 kHz
PRR = 300 kHz
1200
terra cotta
200
MTA1
80
85
280
Operating Flight Altitude AGL
cliffs, sand, masonry
construction concrete
400
420
1500
1000
Point Density [pts/m2]
2000 560
white marble
dry asphalt
dry snow
300
700
600
0
350
[ft]
2500
white plaster work, limestone
800
deciduous trees
Maximum Measurement Range [m]
1000
coniferious trees
wet ice, black tar paper
[m]
5
10
15
20
25
30
35
40
45
50
55
60
65
70
75
200 12 16
150 20
25
0
0
0
m
m
range to target
m
30 0 m 0m
100 500
140
50
0
0
0
250
2
90
6
4
8
10
7DUJHW5HÀHFWLYLW\>@ 7DUJHW5HÀHFWLYLW\>@
MTA1: no ambiguity / one transmitted pulse „in the air”
@ visibility 23 km @ visibility 15 km @ visibility 8 km
Example:
PRR = 380 kHz terra cotta
MTA1
80
85
280
Operating Flight Altitude AGL
white marble
cliffs, sand, masonry
construction concrete
200
420
1500
1000
Point Density [pts/m2]
2000
400
10
15
20
25
30
35
40
45
50
55
60
65
70
75
10
200
12
15
20
150 25
0
0
0
0
0
m
50
0
90
2
6
4
@ visibility 23 km @ visibility 15 km @ visibility 8 km
8
10
Example:
terra cotta
14
16
VUX-1UAV at 380,000 pulses/second range to target = 120 m, speed = 10 kn Resulting Point Density ~ 95 pts/m²
[ft]
700
2500
600
700
Operating Flight Altitude AGL
white marble
cliffs, sand, masonry
construction concrete
85
15
300 20
0
0
range to target
m
80
140
1000
m
0
MTA1
280
80
400
m
200
MTA2
1500
12
400
420
500
0
600
Point Density [pts/m2]
2000 560
white plaster work, limestone
deciduous trees
dry asphalt
coniferious trees
dry snow
wet ice, black tar paper
[m]
10
Maximum Measurement Range [m]
12
PRR = 550 kHz
1200
m
m
200 500
100
0
0
5
10
15
20
25
30
35
40
45
50
55
60
65
70
75
90
2
4
6
8
7DUJHW5HÀHFWLYLW\>@ 7DUJHW5HÀHFWLYLW\>@
MTA1: no ambiguity / one transmitted pulse „in the air” MTA2: two transmitted pulses „in the air”
10
12
14
16
Speed [kn] @ visibility 23 km @ visibility 15 km @ visibility 8 km
Example:
VUX-1UAV at 550,000 pulses/second range to target = 100 m, speed = 8 kn Resulting Point Density ~ 210 pts/m²
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 • operating flight altitude given at a FOV of +/-45°
4
20
range to target
m
m
500
140
PRR = 550 kHz
0
18
m
m
Speed [kn]
MTA1: no ambiguity / one transmitted pulse „in the air” MTA2: two transmitted pulses „in the air”
800
20
250
7DUJHW5HÀHFWLYLW\>@ 7DUJHW5HÀHFWLYLW\>@
1000
18
VUX-1UAV at 300,000 pulses/second range to target = 160 m, speed = 8 kn Resulting Point Density ~ 72 pts/m²
100
0
5
20
300
560
MTA2
0
18
350
[ft]
700
600
0
16
2500
white plaster work, limestone
deciduous trees
dry asphalt
coniferious trees
Maximum Measurement Range [m]
dry snow
wet ice, black tar paper
[m]
800
14
PRR = 380 kHz
1200
1000
12
Speed [kn]
Maximum Measurement Range & Point Density RIEGL VUX®-1UAV PRR = 550 kHz reduced power
PRR = 550 kHz reduced power
200
[m]
[ft]
1500
terra cotta
1200
50 25
80
85
35
300
200
100
5
10
15
20
25
30
35
40
45
50
55
60
65
70
75
1000 900 800
40
700
50
60
600 75
500 10
400
range to target
m
m
m
m
0m
300 200 100
0
0
Point Density [pts/m2]
cliffs, sand, masonry
construction concrete
75
70
1100
Operating Flight Altitude AGL
MTA1
100
0
1300
105
white marble
dry snow
1400 400
white plaster work, limestone
125
dry asphalt
150
deciduous trees
Maximum Measurement Range [m]
175
coniferious trees
wet ice, black tar paper
160
90
0 2
4
6
8
7DUJHW5HÀHFWLYLW\>@ 7DUJHW5HÀHFWLYLW\>@
MTA1: no ambiguity / one transmitted pulse „in the air”
10
12
14
16
18
20
Speed [kn] @ visibility 23 km @ visibility 15 km @ visibility 8 km
Example:
VUX-1UAV at 550,000 pulses/second reduced power range to target = 50 m, speed = 6 kn Resulting Point Density ~ 570 pts/m²
Dimensional Drawings RIEGL VUX®-1UAV all dimensions in mm
RIEGL VUX®-1UAV with Cooling Fan Device
5
RIEGL VUX®-1UAV Additional Equipment and Integration Additional Equipment for RIEGL VUX-1UAV Cooling Fan Device Lightweight structure with two axial fans providing forced air convection for applications where sufficient natural air flow cannot be guaranteed. Power supply is provided via a connector on the rear side of the RIEGL VUX-1UAV. The cooling fan device can be mounted either on the top side or on the bottom side of the RIEGL VUX-1UAV and is included in the scanner‘s scope of delivery. The cooling fan device is to be mounted whenever the environmental conditions/temperatures require (see ”temperature range” on page 2 of this datasheet).
Cooling Fan Device
Protective Cap To shield the glass tube of the RIEGL VUX-1UAV from mechanical damage and soiling, a protective cap is provided to cover the upper part of the instrument during transport and storage.
Options for RIEGL VUX-1UAV Integration RIEGL provides user-friendly, application- and installation-oriented solutions for integration of the VUX-1UAV LiDAR sensor: RIEGL VUX-1UAV with Protective Cap
• RIEGL VUX-SYS Complete airborne laser scanning system for flexible use in UAS/UAV/RPAS, helicopter, gyrocopter and ultra-light aircraft installations comprising the RIEGL VUX-1UAV, an IMU/GNSS system and a dedicated control unit. • RiCOPTER Ready to fly remotely piloted airborne laser scanning system with RIEGL VUX-SYS integrated • RIEGL VP-1 Small and lightweight pod with integrated RIEGL VUX-SYS to be mounted on standard hard points and typical camera mounts of manned helicopters
RIEGL VUX-1UAV VUX 1UAV with ith external t l IMU-Sensor IMU S VUX SY (RIEGL VUX-SYS) Details to be found on the relevant datasheets and infosheets.
Multiple-Time-Around Data Acquisition and Processing In time-of-flight laser ranging a maximum unambiguous measurement range exists, which is defined by the laser pulse repetition rate and the speed of light. In case the echo signal of an emitted laser pulse arrives later than the emission of the subsequently emitted laser pulse, the range result becomes ambiguous - an effect known as „Multiple-Time-Around“ (MTA).
Field of View (FOV) 330°
MTA 1
The RIEGL VUX-1UAV allows ranging beyond the maximum unambiguous measurement range using a sophisticated modulation scheme applied to the train of emitted laser pulses. The dedicated post-processing software RiMTA provides algorithms for multiple-time-around processing, which automatically assign definite range results to the correct MTA zones without any further user interaction required.
MTA 2
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.
Data Sheet, RIEGL VUX-1UAV, 2016-09-16
