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AN INDIGENOUS DEVELOPMENT OF
LAND BASED MOBILE MAPPING SYSTEM
Geoinformatics Laboratory, IIT Kanpur
SYSTEM
Salil Goel , Manohar Yadav, Anjani K. Singh and Bharat Lohani
India Geospatial Forum 2013
Mobile Mapping System2
Mapping Sensors
Laser Scanner
Digital camera
Geoinformatics Laboratory, IIT Kanpur
Digital camera
Navigation Sensors
GPS
Inertial Measurement Unit (IMU)
Distance Measurement Instrument(DMI)
Synchronization device
Need for development3
High
costs
High procurement
costs
Affordability
Different needs and
requirementsCustomize
Lack of industry
standardsCommercial developmen
Geoinformatics Laboratory, IIT Kanpur
requirementsCustomized solutions
Development of local expertise
development
Jobs and opportunitie
s
Building India
Sel
f rel
ianc
e
Black box
Operations
Maintenance
Calibration
Scalability
Optech ILRIS 3D laser scanner
Trimble R3 Microstrain
Components4
Trimble R3 GPS receiver
Microstrain3DM-GX1
Laptop
Geoinformatics Laboratory, IIT Kanpur
Feasibility analysis5
� Component integration� Equations for calibration and processing� Simulations and testing
Geoinformatics Laboratory, IIT Kanpur
System Design6
Determination of angles and heights at which instruments should be mounted.
Laser Scanner
IMU
GPS
Geoinformatics Laboratory, IIT Kanpur
Top view
Side view
System Design7
Scan lineStatic
Geoinformatics Laboratory, IIT Kanpur
Two way scanning
One way scanning
Moving
System Design8
Geoinformatics Laboratory, IIT Kanpur
System Design9
)90cos(||*|| *
*)cos(*)sin(
*)(sin*)(cos
OTOSOTOS
jkOT
jiOS
α
θθ
ββ
−=
+−=
+=
Geoinformatics Laboratory, IIT Kanpur
-(2)----- )sec
(tan
sectan
)sin(
)sec(
)90sin(
(1) ------- cos*sinsin
1
B
dB
d
dB
βα
βα
αβ
α
θβα
−=
=
=−
=
System Design10
md
mh
0.1
5.2
==
Solve equations (1) and (2) to compute angles.
Geoinformatics Laboratory, IIT Kanpur
θθθθ = 20°°°° θθθθ = 30°°°°β = 8.39° β = 13.4°α = 7.87° α = 11.6°W = 5.35 m W = 3.64 m
Case 1 Case II
Increasing the tilt angle decreases the width of the scanned region.
Integration Infrastructure11
Geoinformatics Laboratory, IIT Kanpur
Integration Infrastructure12
Geoinformatics Laboratory, IIT Kanpur
System calibration13
Determination of GPS vector and Bore Sight values.
Laser Scanner
IMU
GPS
Geoinformatics Laboratory, IIT Kanpur
Laser Scanner
GPS
Laser Scanner Coordinate System
IMU Body Coordinate System
System calibration14
Geoinformatics Laboratory, IIT Kanpur
System calibration15
3
2
32
sin
sin
)sin()sin(
αα
αα
=
=
BA
BA
Geoinformatics Laboratory, IIT Kanpur
213 180 ααα −−=
1
1
1
tan
sin
cos
βαα
Az
Ay
Ax
===
System calibration16
( ) ( ) ( ), IMU GPS globali a a global las las las IMUF l c r i r i R T M= − × × ×
Minimize the function to determine the calibration parameters.
tantan
global gential global globalIMU IMU gential GPSM R R T= × ×
Geoinformatics Laboratory, IIT Kanpur
( , , )globalGPS GPS GPS GPST T X Y Z=
( ) ( ) ( )0 0 0IMUlas x y zR R R Rα β γ= × ×
[ ], ,offsetvector dx dy dz=
To determine the parameters:
Test field17
Geoinformatics Laboratory, IIT Kanpur
Test field18
Geoinformatics Laboratory, IIT Kanpur
Flow19
Laser Scanner
GPSIMU
KalmanFilter
Timing
Geoinformatics Laboratory, IIT Kanpur
Filter
Coordinate computation
Trajectory and
Orientation
Angle and range
globalIMU
GPSIMU
IMUlaslaserglobal MTRirir x x x )()( =
Results20
Geoinformatics Laboratory, IIT Kanpur
Results21
Geoinformatics Laboratory, IIT Kanpur
Results22
Geoinformatics Laboratory, IIT Kanpur
Results23
Geoinformatics Laboratory, IIT Kanpur
Conclusive remarks24
� Developed methodology for calibration and integration of the system.
� Developed complete set of equations for calibration and computations.
Geoinformatics Laboratory, IIT Kanpur
calibration and computations.� Developed software for processing of data
captured by mobile mapping system.� Realized a complete land based mobile
mapping system.
What’s for me?25
Creating/ Updating 3D Maps
(Roads, Rails, etc) Encroachment
Develop for roads but use for
rails and sea
Assets
Flood modeling
Geoinformatics Laboratory, IIT Kanpur
(Roads, Rails, etc) Encroachment analysis
Clearance analysis
Line of Sight Analysis
Road Surface/Rail inspection
Assets
Overhead wires
Tunnels etc.
And many more….
26
Thank you!
Geoinformatics Laboratory, IIT Kanpur
Salil GoelResearch AssociateGeoinformatics LaboratoryDepartment of Civil EngineeringIndian Institute of Technology KanpurUttar Pradesh, IndiaEmail: [email protected]