Headwall Nano-Hyperspec Manuel utilisateur

AIRBORNEOPERATIONS

NANO-HYPERSPEC®

AIRBORNE PACKAGE

Operations Manual

AIRBORNE OPERATIONS

Reproduction and Copyright Information

This document contains information which is Proprietary and Confidential. Any reproductions, adaptations, or

translations without prior written permission from Headwall Photonics, Inc. is strictly prohibited. All information

provided in this manual is believed to be accurate and reliable. No responsibility is assumed by Headwall Photonics, Inc.

for its use. Headwall Photonics, Inc. reserves the right to make changes to this information without notice.

Contact Headwall Photonics, Inc. for associated software license information on: Hyperspec© application software, Nokia

QT libraries, and LGPL Public License.

Contact information

Headwall Photonics

601 River Street

Fitchburg, MA 01420

TEL (978) 353-4100

FAX (978) 348-1864

e-mail: support@headwallphotonics.com

CHANGE TRACKING

1-a

DOCUMENT REVISION TRACKING

Table 1-1. Document Revisions

Date Name Page Detail

6/2016 Chenevert 46 Added note about closing the live video and waterfall views

to prevent GPS data drop. Added steps for remote trigger

using GPIO functionality.

7/5/2016 Chenevert 1-14,15 Added detail about IMU connections. Added information

about flight planning in that section of book. Included use of

FOV calculator for planning and operations.

9/2016 Chenevert 1-3, 1-5 Added details for features, identified positioning of IMU so

no interpretation by users, Updated for features added since

last editing

CHANGE TRACKING

1-b

AIRBORNE OPERATIONS

Table of Contents

Document Revision Tracking................................................................................. a

Airborne Package Operation ................................................................................. 3

Nano-Hyperspec®— Airborne Package Components ........................................3

Individual Components ........................................................................................4

Nano-Hyperspec®................................................................................................................. 4

IMU ........................................................................................................................................ 5

GPS Antenna. ........................................................................................................................ 6

IMU Connection and Orientation. ........................................................................7

Component Interconnection .................................................................................7

Nano Computer Connection ................................................................................................ 7

Power Connection. ................................................................................................................ 8

Nano-IMU Attachment. ....................................................................................................... 9

IMU Data/Power Connection. ............................................................................................. 11

IMU, GPS Connection. ......................................................................................................... 14

Confirm Nano to IMU Connection ......................................................................14

Flight Planning .....................................................................................................16

Setting Capture Options. ..................................................................................................... 16

Capture Function .................................................................................................................. 18

GPS/IMU Mapping................................................................................................. 19

Overview ..............................................................................................................19

Software Installation. ...........................................................................................19

Magnetic Mapping Process ..................................................................................25

GPS/IMU Assembly Process. ............................................................................................... 25

Magnetic Mapping Procedure ............................................................................................. 26

Calibration Method .............................................................................................................. 28

Examples of Scanning Errors .............................................................................................. 30

Ortho-rectification: Configure IMU .....................................................................32

Airborne Operations, Pre-Flight Procedures....................................................... 35

Hyperspec®III Procedures ...................................................................................35

GPS Configuration and Polygons ........................................................................37

Capture Polygons .................................................................................................39

AIRBORNE OPERATIONS

Headwall Polygon Tool ........................................................................................40

Polygon Tool Functions. ....................................................................................................... 42

Multiple Polygons. ................................................................................................................ 44

Adding Polygons to the GPS Polygon Editor. .................................................................... 45

GPS Triggers ........................................................................................................47

GPS Remote Triggers ...........................................................................................50

Pre-flight, Way point Planning .............................................................................51

AIRBORNE PACKAGE

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CHAPTER 1 AIRBORNE PACKAGE OPERATION

The airborne package is a combination of hardware, consisting of the motion tracker, IMU and GPS antenna, and software

that operates with the Nano-Hyperspec®(Nano). The airborne tracking software is integrated into the Hyperspec® III

software installation and operation. The airborne package is used to seamlessly adjust the orthogonal perspective of data

collected during manned or UAV flights. The orthogonal adjustment is done within the SpectralView®application of

Hyperspec®III through the ortho-rectification process. For the software to effectively correct the data cube during the

ortho-rectification process the position of the IMU needs to be set so the correct orientation off-sets can be applied to the

post processing, ortho-rectification. The steps to accomplish this process are within the section of this document, Nano-

IMU Attachment.

The following is a list of the components that make up the airborne package covered in this section. The complete sensor

system, as delivered, may have additional or alternative components. These alternative components are identified in the

enclosed package of system documentation included with the unit. This chapter deals only with the IMU and Nano

combination airborne package.

1.1 NANO-HYPERSPEC®— AIRBORNE PACKAGE COMPONENTS

The Headwall Airborne Package contains the following hardware components.

(1) Nano-Hyperspec®Unit

(a) Nano-Hyperspec®sensor

(b) Provided lens

(2) Airborne Package (GPS)

(a) IMU

(b) USB Cable

(d) GPS Antenna

(e) Mounting hardware

(f) LEMO data cable

(3) Flash Drive with Hyperspec®III software and calibration data

(4) Cat 6 Cable, 5 ft.

The IMU is mounted onto the Nano-Hyperspec®prior to and during operations. The power to operate the supplied IMU

comes through a connection to the Nano-Hyperspec®. Once powered and operating, the IMU will transmit the unit’s GPS

location and orientation, such as yaw, pitch or roll, to the Nano for inclusion into the data cube for the particular scan. For

each performed scan, the Nano stores the data cube in the scan folder in its memory. Once the scanning is completed the

file contents can be downloaded, using the Transfer feature within Hyperspec®III, onto the computer that contains

Hyperspec®III and SpectralView®.

The operation of the Nano-Hyperspec®unit is covered in the manual for that device. The Nano-Hyperspec®is identified

within the individual components section of Airborne Operations for ease of instruction.

AIRBORNE PACKAGE

1-4

Figure 1-1. Nano-Hyperspec®— Airborne Package.

1.2 INDIVIDUAL COMPONENTS

1.2.1 Nano-Hyperspec®.

Figure 1-2. Nano-Hyperspec®,with Lens.

AIRBORNE PACKAGE

1-5

1.2.2 IMU.

NOTE

When using the IMU it is important that the power cables be secured the maximum

distance from the IMU. This will prevent magnetic interference, errors in data

storage, orientation problems or possible damage to the unit.

The IMU weighs 58 grams. When mounted to the Nano-Hyperspec®, it sends positional data to the Nano for storage, and

inclusion into the scan data file. The positional data from the unit is then used for ortho-rectification of the scan data

within the SpectralView®application. The Headwall supplied cable used to connect the IMU to the Nano is the minimal

length to eliminate an interference.

Figure 1-3. IMU

The software to operate the IMU and generate positional data is embedded within the device. The software to interpret the

positional data is integrated into the Hyperspec®III software. A flash drive containing the IMU MT-Manager is included

within the package. The MT-Manager is also available to install directly from the Hyperspec®III installer, when

Hyperspec®III is first installed onto the computer. During the system software loading and system set up process, the

Nano-Hyperspec®and IMU units are configured to operate together. When ordered together this integration is done at the

Headwall facility prior to shipping.

The IMU specifications are listed in the following table. The value CEP is (Circular Error Probability), defined as the

radius of a circle centered on the true value that contains 50% of the actual GPS measurements. So a receiver with 1 meter

CEP accuracy will be within one meter of the true measurement 50% of the time. The other 50% of the time the

measurement will be in error by more than one meter.

AIRBORNE PACKAGE

1-6

1.2.3 GPS Antenna.

The GPS antenna is used to define the initial location of the Nano-Hyperspec®unit once the IMU has been installed.

During the flight the GPS antenna captures the location of the system and sends that data to the IMU and Nano for

inclusion into the data. Within the data capture folders two files identify the GPS data, the Frame Index file and the

gpsMonitor file. To optimize results the GPS antenna should be positioned within 10 cm of the IMU device. The GPS

antenna positional information is also used for triggering the Nano remotely. This is a feature that is useful for flying a

defined polygon pattern. From the start point polygons and patterns are developed to enable the user to set data collection

parameters. The use of polygons and other patterns is found in Section, GPS Configuration and Polygons of this manual.

Figure 1-4. GPA Antenna.

Table 1-1. IMU Specifications

Parameter Value

GPS Update Rate 4 Hz

Horizontal Accuracy Position SPS 2.5 m CEP

SBAS 2.0 m CEP

Vertical Accuracy Position SPS 5 m

Velocity accuracy 0.1 m/s @ 30 m/s

Start-up Time, Cold start 27 s

Re-acquisition < 1 s

Tracking Sensitivity -161 dBm

Timing Accuracy 30 ns RMS

Maximum Altitude 18 km

Maximum Velocity 515 m/s

Max dynamics GPS 4 g

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