VIA Technologies EPIA SN-Series Spécifications

ALMA MATER STUDIORUM – UNIVERSITA’ DI BOLOGNA II FACOLTA‟ DI INGEGNERIA Dipartimento di Ingegneria delle Costruzioni Meccaniche, Nucleari, Aeronauti

List of Figures vi Figure 87: Brisighella area, planned vs HIL simulated trajectory ... 106 Figure 88: Brisighella a

FASTER Engineering Model 88 Figure 73: Canon EOS 450D Management Block Scheme

FASTER Engineering Model 89 6.5.5 Tunnel in The Sky Management Block The guidance tunnel is a critical tool for repeating the same planned trajector

FASTER Engineering Model 90 Figure 74: Tunnel in the sky management block scheme 6.5.6 Virtual Tunnel Block The virtual tunnel block has been

FASTER Engineering Model 91 currently can‟t be further modified) and read by the virtual tunnel block, but only a subset of 20 at a time is used to c

FASTER Engineering Model 92 Figure 75: Virtual Tunnel block scheme

FASTER Engineering Model 93 6.5.7 Datalog Block The datalog block function is to save all the acquired information in a log file in wh

FASTER Engineering Model 94 6.5.8 Pilot Interface Block The pilot interface block has been added to control the FASTER status monitor wh

FASTER Engineering Model 95 Figure 78: FASTER Acquisition Display 6.6 Tunnel In The Sky Visual Interface The pilot visual interface is displayed on

FASTER Engineering Model 96 are visualized by colored markers: in particular, it is shown the prediction of the future position of the aircraft by me

FASTER Engineering Model 97 Visualization layout was fixed and a poor screen resolution was used. During flight operations this screen configurati

List of Tables vii List of Tables Table 1: LCCES Microbolometer specifications ... 13 Ta

FASTER Engineering Model 98 To increase the system effectiveness, another tool called 're-entry tunnel' has been introduced (red tunn

FASTER Engineering Model 99 A screenshot of the camera control center software is provided in Figure 83. Figure 83: Camera control center screensho

FASTER Engineering Model 100 optimal value must be carefully evaluated. ISO can be set between 100 and 1600 but for APS-C sized detectors, like the o

Results of the test campaigns 101 Chapter 7. Results of the test campaigns After completing the realization of the FASTER EM, the system was subjecte

Results of the test campaigns 102 The problem was corrected applying a files check routine which changes the file name if it already contains data. T

Results of the test campaigns 103 A cross check can still be made if the camera clock has been synchronized with the PC-board internal clock time, re

Results of the test campaigns 104 The FASTER block contains the same Simulink model used to built the xPC Target real time operating system which wor

Results of the test campaigns 105 The two emulators generates the same nmea strings for the GPS and the angle mode packet binary data output for the

Results of the test campaigns 106 Once the coordinates of the two nearest waypoints are extracted, the straight line passing through that

Results of the test campaigns 107 Figure 88: Brisighella area, distance between planned and HIL simulated trajectories, whole flight Figure 89: Bri

List of Tables viii

Results of the test campaigns 108 Figure 87 shows the HIL simulated trajectory in green, while the red dots represent the planned waypoints. The

Results of the test campaigns 109 Wires pass under the door and connect the two unit. The LCD screen has been installed on a metal supp

Results of the test campaigns 110 The camera arm switch, for the three campaigns, has been controlled by an operator which had the role of controllin

Results of the test campaigns 111 No further magnetometer calibration was applied with respect to that made inside the laboratory. The planned tra

Results of the test campaigns 112 Figure 95: First flight campaign, initial part of planned vs flown trajectory Figure 96: First flight campaign, d

Results of the test campaigns 113 Figure 97: First flight campaign, planned vs flown altitude Furthermore, because of the prolonged ground operation

Results of the test campaigns 114 resolution Google Earth layer was created. The computed GSD in 2.9 cm/pixel, and the difference between the 1 m Goo

Results of the test campaigns 115 guidance tunnel. The position predictor, which provides a 5 s prediction, was activated utilizing a red dot. Figu

Results of the test campaigns 116 The pilot was trained for 30 minutes before takeoff to get used to the new interface; training was performed using

Results of the test campaigns 117 Figure 102: Second flight campaign, selected waypoints of the flown trajectory used to compute the distance from t

Introduction 1 Chapter 1. Introduction Since 2003, the Microsatellite Laboratory of II Faculty of Engineering of the University of Bologna

Results of the test campaigns 118 Figure 104: Second flight campaign, planned vs flown altitude The camera settings for the second test were: focal

Results of the test campaigns 119 7.2.3 Third test campaign In the third test campaign, for the first time, the FASTER planning tool was u

Results of the test campaigns 120 difficult to keep the pre-computed heading. The flight analysis is presented in the following figures.

Results of the test campaigns 121 Figure 107 and Figure 108 show the planned trajectory against the flown trajectory and the computed distance

Results of the test campaigns 122 In Figure 110, the distance between planned and flown trajectories is plotted for the first stripe, showing a mean

Results of the test campaigns 123 Figure 112: Third flight campaign, Brisighella mosaic

Results of the test campaigns 124

Conclusions 125 Chapter 8. Conclusions In this work a novel concept of photogrammetric and remote sensing instrument has been discussed. The system

Conclusions 126 The FASTER EM still needs to be fine tuned before the realization of the final system; other tests campaign, with th

Appendix-A Converting Geographical Coordinates to UTM 127 Appendix-A Converting Geographical Coordinates to UTM In the following appendix the metho

Introduction 2 from the airplane (without fuselage modifications or the need of specific navigation instruments) in which is installed. Th

Appendix-A Converting Geographical Coordinates to UTM 128 = [1 243464562563 328+3432+4561024sin2+ 154256+454256+ sin4

Bibliography 129 Bibliography 1. Standalone Three-Axis Attitude Determination from Earth Images. Bevilacqua, Alessandro, et al. San Diego : XX AIAA C

Bibliography 130 15. An Optimally Integrated Direct Georeferencing and Flight Management System for Increased Productivity of Airborne Mapping and Re

Bibliography 131 35. —. NAV420 Navigation Aided IMU. [Online] http://www.xbow.com/Products/productdetails.aspx?sid=181. 36. VIA Technologies Incorpor

Bibliography 132 55. MIL Standards. MIL-PRF89020B, Performance specification Digital Elevation Data (DTED). 2000. 56. PC/104 Embedded Consortium. PC/

Introduction 3 indispensable when using aircraft without navigation instruments. The interface monitors system status and offers the same infor

Background 4 Chapter 2. Background In this Chapter a brief description of all the preparatory activities carried out during the three years PhD cours

Background 5 All these experiences led to the idea to develop a common test bed capable to replicate all the functions that will be ava

Background 6 that best fits the implementation of a system for the acquisition of satellite images is a CCD (although CMOS based devices are cu

Background 7 tuning error is consistent with the one measured prior to the test. One of the main issues connected to the use of this kind of filter i

Background 8 A complete set of analysis has been done on the selected optical layout in order to determine the expected performances o

Background 9 system. The optical bench is currently used to test performances of the wide angle CCTV lens of the ALMASat-1 sun sensors. Procedures ha

Background 10 CCD FPGAJPEG2000 Hardware Compression (ADV212)ARM7 MicroprocessorStorage(FLASH memories)TXADCSLCD Filter Figure 8: Electronics Layout B

Background 11 STARSSimulatorCamera ModelAttitude and Orbit SimulatorEarth ModelImage Sequqencies GeneratorImages DatasetAttitude Estimation Algorithm

Background 12 In particular the work that has been carried out at the II Faculty of Engineering is relative to the realization of a test-bed

Background 13 Test-bed is made up of three main components: a DSLR camera (Digital Single Lens Reflex) which simulate the STARS sensing device,

Background 14 Figure 12: LEO Conditions Figure 13: GEO conditions Figures above refers to the hFOV (Half Field of View) and lead to a maximum full

Background 15 order), astigmatism, distortion, MTF and PSF as reported in the following diagrams. In this approach lens coating hasn‟t been tak

Background 16 The preliminary layout of the ES housing consist of a common electronics box both for LEO and GEO sensor, in front of an interchang

Remote Sensing and Photogrammetry, State of the Art Technologies 17 Chapter 3. Remote Sensing and Photogrammetry, State of the Art Technologies In th

Abstract Remote sensing and photogrammetry are key technologies for several activities such mapping, agriculture, land use or soil and air p

Remote Sensing and Photogrammetry, State of the Art Technologies 18 spatially referenced data (data could be remote sensed or retrieved thr

Remote Sensing and Photogrammetry, State of the Art Technologies 19 remote sensing applications. A possible classification of airborne sensor

Remote Sensing and Photogrammetry, State of the Art Technologies 20 Instead of using an RGB filter to achieve colour registration, cameras

Remote Sensing and Photogrammetry, State of the Art Technologies 21 Medium format cameras that are in current use have been modified from existing fi

Remote Sensing and Photogrammetry, State of the Art Technologies 22 Large format cameras are typically sets of multiple medium-format cameras coupled

Remote Sensing and Photogrammetry, State of the Art Technologies 23 for panchromatic images and 2800 for multispectral data, while the achievable GSD

Remote Sensing and Photogrammetry, State of the Art Technologies 24 The most diffuse airborne Pushbroom Line Scanner is the Leica ADS40. I

FASTER 25 Chapter 4. FASTER The review of the state of the art technologies presented in Chapter 3, allowed a better understanding of

FASTER 26 Very often, modified aircrafts that can be equipped with photogrammetric instruments, are located in a limited number of airports

FASTER 27 4.2 Proposed Solution Before proceeding to the realization phase a list of requirements, arising from the analysis of the stat

FASTER 28 RE.F.06 Images shall be acquired so that image mosaicing can be successfully accomplished during both real time processing or postprocessin

FASTER 29 RE.P.05 Georeferencing accuracy shall be in the same order of the GSD At present this requirement cannot be fulfilled, neither applying pos

FASTER 30 4.3 FASTER Cameras Geometry In order to define the acquisition system geometry, some considerations regarding the different layout possibi

FASTER 31 Figure 27: FASTER selected cameras system geometry Cameras are arranged in line, with the first camera tilted 15° on the right side and l

FASTER 32 Figure 28: FASTER camera ground projections The Ground Sampling Distance (GSD) defined as [Ref. (14), (15)]:  =   where 

FASTER 33  The Ground Segment infrastructure  The Airborne internal management and computing segment  The Airborne external POD, equipped with

FASTER 34 The FASTER final system will be provided with the same Crossbow NAV420 IMU used in the EM but this time in full nav mode in order to avoid

FASTER 35 Figure 31: FASTER 3D model assembly, pc-box and SSDs mount Figure 32: FASTER 3D model canopy

FASTER 36 Engineering Model Final Layout Description 1 DSLR Canon EOS 450, CMOS sensor, controlled via USB interface Simultaneous acquisition of 3 f

FASTER Planning Software 37 Chapter 5. FASTER Planning Software 5.1 Photogrammetric Aerial Mission Purpose of a photogrammetric aerial mission is s

Table of Contents i Table of Contents Table of Contents ...

FASTER Planning Software 38 = Eq.2 where  is a crop factor which takes into account the ratio between the 35 mm format and actual sensor diago

FASTER Planning Software 39 The image scale factor is given by the ratio /. For the purposes of this study flying height is limited to 500 ft (152.

FASTER Planning Software 40 5.2 FASTER planning software layout In the following diagram the FASTER planning software block diagram is presented. Th

FASTER Planning Software 41 The planning software has been divided into five different blocks and two of them are implemented using geobrowser featur

FASTER Planning Software 42 The user GUI (Graphical User Interface) is shown in Figure 36, in the left frame address box, places and levels ena

FASTER Planning Software 43 With the toolbar buttons, over the graphical window, is possible to draw paths or polygon over the Earth sur

FASTER Planning Software 44 defined by a group of points in the space and their relative coordinates are reported in the same <coordinates> tag

FASTER Planning Software 45 Figure 39: Imported KMZ in the Matlab environment Figure 39 is a plot of the Area_ridolfi array created by the read_kml.

FASTER Planning Software 46 DEM_extraction.m which searches inside the ASTER DEM database and extracts the selected area altimetry data from

FASTER Planning Software 47 One of the advantages of the UTM projection is that geographic location are given in x and y coordinates in meters,

Table of Contents ii 6.1 FASTER EM Hardware layout ... 60 6.1.1 Sensors And Data Lo

FASTER Planning Software 48 The ellipsoidal Earth is used throughout the UTM projection system, but the reference ellipsoid changes wit

FASTER Planning Software 49 5.4.2 Trajectory Determination The FASTER_planner.m script is responsible of the trajectory determination. This

FASTER Planning Software 50 Figure 42:Example of plotting: target area, surrounding square area, DEM area Figure 43:DEM extraction from the ASTER d

FASTER Planning Software 51 Figure 44: FASTER flight planner - computed flight height [m] To use the ASTER DEM database the DEM_extraction.m script

FASTER Planning Software 52 to different lens in order to have the same ground resolution when relative distance to ground varies. When along-trac

FASTER Planning Software 53 The turn45.m script is recalled between each stripe calculation and waypoints and turns time are added during

FASTER Planning Software 54 Figure 47: FASTER_planner.m script output Figure 48: Particular of the target area

FASTER Planning Software 55 Figure 49: Planned trajectory exported in a KML file and visualized inside Google Earth The final trajectory is saved in

FASTER Planning Software 56 Multiple areas can be managed inside the same flight plan but transfers between each areas are actually not computed by s

FASTER Engineering Model 57 Chapter 6. FASTER Engineering Model As seen in the previous chapter, the FASTER EM includes three main parts:  The Gro

List of Figures iii List of Figures Figure 1: Dalsa FTF2020M sensor ...

FASTER Engineering Model 58 automatically enabling the acquisition process RE.F.06 Images shall be acquired so that image mosaicing can be successful

FASTER Engineering Model 59 Despite these requirement relaxations, the result is compliant with the initial idea of a functioning test bed able to gu

FASTER Engineering Model 60 Acquisition devices configuration (i.e. aperture and exposure time) is setup via the camera parameters controller and

FASTER Engineering Model 61 Sunlight readableLCDCanon EOS 450Power Supply 6-32V M2-ATX-140 W [3.3-5-12 V output]DC/DC Converter12 V 8 V12 V12 V5 V5,

FASTER Engineering Model 62 connection s are used to send the state vector (which in addition to position and attitude data store also a reference ti

FASTER Engineering Model 63 parity bit) using the NMEA (National Marine Electronics Association) 0183 ASCII interface specification (GPGGA,

FASTER Engineering Model 64 Missing GPS data prevent magnetic declination determination so the computed heading coming from magnetometers is

FASTER Engineering Model 65 The Canon EOS is connected to the EPIA via an USB port using the widely supported Picture Transfer Proto

FASTER Engineering Model 66 connected via a USB port to the EPIA EN15000. The LCD matrix is mounted on a fiberglass support jointly

FASTER Engineering Model 67 The camera has an all plastic structure so it is therefore necessary an adequate protection when installed

List of Figures iv Figure 25: Leica ADS40 sensor head and assembly [ ... 24 Figure 26: Direct Ge

FASTER Engineering Model 68 modified, C++ based remote camera control software available from the Canon SDK support. 6.2 Power Subsystem

FASTER Engineering Model 69 Figure 59: M2-ATX-140W power supply [Ref. (45)] (a) and the DC-DC converter used to power the camera (b) FASTER EM mea

FASTER Engineering Model 70 During the development of the FASTER EM we had the opportunity to have at our disposal a Tecnam P92, which is one of the

FASTER Engineering Model 71 Figure 60: Tecnam P92 selected mounting area for the external POD

FASTER Engineering Model 72 Figure 61: Canopy section After the definition of the canopy section profile, it has been extruded along th

FASTER Engineering Model 73 Figure 63: FASTER EM fiberglass canopy installed on Tecnam P92 passenger side 6.4 Airborne Internal Management and Comp

FASTER Engineering Model 74 are currently enabled to connect the camera arm switch, others can be employed to driver LEDs or to pilot an externa

FASTER Engineering Model 75 Figure 66: FASTER airborne internal and computing unit inside view of the rack box 6.5 FASTER EM Software Description T

FASTER Engineering Model 76 be created using the Real-Time Workshop and a C compiler; this will run on a compatible target PC in real-time mode using

FASTER Engineering Model 77 Figure 67: FASTER EM Simulink model

List of Figures v Figure 57: Canon EOS 450 and Canon EF28 f/2.8 [Re. (12)] ... 66 Figure 58: Canon EOS 450D

FASTER Engineering Model 78 6.5.1 Garmin GPS 18 5Hz Acquisition Block The Garmin GPS 18 5Hz block acquires data packets from the receiver decoding e

FASTER Engineering Model 79 meters <10> Geoidal height, -999.9 to 9999.9 meters N <11> Null (Differential GPS) N <12> Null (Differe

FASTER Engineering Model 80 Figure 68: Garmin GPS 18 5Hz acquisition block sheme

FASTER Engineering Model 81 6.5.2 Crossbow NAV420 Acquisition Block The same structure used in the previous section has been adopted for the NAV420

FASTER Engineering Model 82 = 100215 Accelerations are measured in G‟s (actual measurement range is ±4 G), angular rates in deg/s (actual m

FASTER Engineering Model 83 BIT Message Definition 3 Turn detect 0: Yaw rate magnitude < 0.4 deg/s; 1: Unit is executing a turn 4 Comm Transit Er

FASTER Engineering Model 84 Figure 69: Crossbow NAV420 acquisition block scheme

FASTER Engineering Model 85 6.5.3 Magnetometer acquisition block This block was added because of the need to understand how the magnetic

FASTER Engineering Model 86 In this case a surrounding quadrilateral or circular area is drawn around the selected target area, depending on the shap

FASTER Engineering Model 87 Figure 71: Camera shot signal generation Before reaching the parallel port output the correct waveform to control the sh