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Headwall NANO-HYPERSPEC Operation Manual

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AIRBORNE OPERATIONS
YPERSPEC ®
N
-H
ANO
A
P
IRBORNE
ACKAGE
Operations Manual
CD-1543 Rev B

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Summary of Contents for Headwall NANO-HYPERSPEC

  • Page 1 AIRBORNE OPERATIONS YPERSPEC ® IRBORNE ACKAGE Operations Manual CD-1543 Rev B...
  • Page 2 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.
  • Page 3 Changed images for GPS trigger polygon function, updated kml import function 9/2018 Chenevert Multi Updated images for UgCS, polygon tools and detailed functions of airborne flight planning. Organized to follow the steps used by Headwall pilots 6/2019 Chenevert Multi Added section covering co-aligned unit...
  • Page 4 CHANGE TRACKING THIS PAGE INTENTIONALLY LEFT BLANK...
  • Page 5 ® Nano-Hyperspec ........................ 6 IMU ............................7 GPS Antennas........................8 IMU Connection and Orientation, Headwall IMU..........8 Component Interconnection ................10 Nano Computer Connection ....................10 Power Connection........................ 10 IMU Data/Power Connection Xsens IMU................. 11 IMU, GPS Connection......................13 Confirm Nano to IMU Connection ..............14...
  • Page 6 AIRBORNE OPERATIONS Downloading of Data Files ....................41 Additional Data for High-Performance GPS Users ............42 Co-Aligned Unit ....................43 Overview ......................43 Co-Aligned System ...................43 System Operation ....................44 Applanix Post-Processing ..................47 Applanix Download..................47 POSPac Function....................50 Single Base Processing ..................50 Create SBET File.
  • Page 7 (3) Cat 6 Cable, 5 ft. The antennas for the Headwall IMU need to be mounted a minimum of a half meter apart, and have a clear view of the sky. When the airborne package is shipped with the UAV, the Nano and antennas are mounted onto the flight platform.
  • Page 8 AIRBORNE PACKAGE ® ® 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. ® Figure 1-1. Nano-Hyperspec — Airborne Package.
  • Page 9 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 any interference. Figure 1-3. IMU The software to operate the IMU and generate positional data is embedded within the device.
  • Page 10 1.3 IMU CONNECTION AND ORIENTATION, HEADWALL IMU. The Headwall IMU has internally defined coordinate systems to identify the X, Y and Z coordinates. It also contains an internal magnetometer that can be disturbed when proximate to power cables which generate a flux field.
  • Page 11 The IMU should be mechanically attached to the Nano as shown in the following figure. All units shipped as assemblies from Headwall have the IMU attached as shown. Figure 1-6. Headwall IMU on Nano, Gimbal Mount.
  • Page 12 ® (4) Reconnect the Nano-Hyperspec to the computer, with a Cat 6 cable to the RJ-45 port on the Nano-Hyperspec and the other to the RJ-45 port of the operating computer. With the computer and Nano powered ON, open the ®...
  • Page 13 1.4.3 IMU Data/Power Connection Xsens IMU. The IMU, when shipped from Headwall, is attached to the Nano and should not be removed. The data cable connecting the Nano with the IMU is also attached and should remain connected. The following steps are provided for users who purchased the Nano Airborne package and plan to integrate the system with their own drone or scanning system.
  • Page 14 AIRBORNE PACKAGE ® Figure 1-8. Nano-Hyperspec Data Port View. b. Remove the IMU cable from the airborne package. c. Hold the data serial connector and orient it so the holes in the cable-end connector match the pins in the Nano data port connector.
  • Page 15 AIRBORNE PACKAGE CAUTION Do not twist the LEMO connector into the IMU connector. This will damage the pins and make the cable useless. The LEMO is a push-pull connector. f. Hold the Nano in place and gently press the two connector pieces together until the connectors appear as below, Figure 1-11.
  • Page 16 AIRBORNE PACKAGE Figure 1-13. GPS to IMU Connection. c. Once aligned, press the two halves together and turn the ferrule clockwise to secure the connector to the IMU. d. Secure the GPS antenna to a location on the aerial platform and secure any excess cable. If the GPS antenna is used on a UAV body that is conductive material, such as aluminum, the GPS antenna performs best when mounted outside the body.
  • Page 17 AIRBORNE PACKAGE Figure 1-14. Identified GPS Selection. (4) Click the GPS drop down, select the IMU that is attached to the Nano. ® (5) Click the Save button and close and re-open Hyperspec III. The Log Dock should have no error messages if this was the source. If a red error message shows, check the cable connections, verifying they are both correct and firmly secured.
  • Page 18 AIRBORNE PACKAGE the Headwall Polygon tool. Headwall recommends using the polygon tool, http://www.headwallphotonics.com/polygon- tool, as a means of identifying the scan area and setting the GPS start and stop triggers for the Nano. This, coupled with preprogrammed, automatic flight, eliminates the operator variable in the scanning process, and generally leads to better results.
  • Page 19 AIRBORNE PACKAGE Figure 1-16. Settings, Sensor Tab. The operational details for the numbered sections are in the following table. Verify the settings conform to the system configuration. Table 1-3. Sensor Settings Number Function Operational Settings Drop down, select IMU used with Nano. This is necessary if the Nano will be used for aerial scanning.
  • Page 20 AIRBORNE PACKAGE For most applications, using the Xsens IMU from Headwall, users can perform the manual triggering with the GPIO ID set for the IMU and the GPIO External Trigger selected. The External Trigger is used to toggle captures when the check box is selected, as shown in Figure 1-21.
  • Page 21 Headwall, and is enclosed with the system documentation. Before flying the Headwall Photonics, DJI Matrice and Nano units, the systems need to be examined for operational and safety consideration. This includes verifying the functionality and upload processes for the software used for directional and flight control, flight planning and UAV control.
  • Page 22 AIRBORNE PACKAGE Figure 2-1. DJI Assistant. (5) The left side menu is for firmware updates. Click M600 Pro icon. (6) Remove propeller sleeves, lock the propeller arms in the deployed position and place the drone clear of obstructions and personnel, and then click UPGRADE on the main screen. Allow process to complete. Figure 2-2.
  • Page 23 AIRBORNE PACKAGE d. Download and install the latest version of UgCS Desktop onto the operational laptop, from the UgCS website if not already done. e. After the application starts, check for the latest version of UgCS are installed and operational. 2.2 FLIGHT PLANNING This pre-flight process presumes the DJI Matrice 600 is operational and the UgCS and Hyperspec software are installed, updated and operational on the laptop computer used for flight planning and uploaded to the tablet for flight control.
  • Page 24 2.2.1 Sensor Set Up, UgCS. The set up process is performed at the Headwall facility, if the fully integrated system is purchased. Users should follow the steps below as a learning opportunity in the event that additional lenses are purchased, or they are performing this process with their own integration.
  • Page 25 AIRBORNE PACKAGE (3) Click Payloads, then click Create New as shown in the following figure. Figure 2-8. Payload, Create New. (4) A panel opens that requires the user to enter all sensor data for the particular Nano. In the following example, 17mm is the focal length. Enter the sensor Name, include the lens size for ready identification. Figure 2-9.
  • Page 26 AIRBORNE PACKAGE Vertical Resolution (size) 100 pixels Minimum Triggering Interval 1 s. Click Save. The focal length is specific for the lens used. In the following example a 23 mm lens was used. This concludes adding a payload to the available profiles on the Matrice. Figure 2-10.
  • Page 27 AIRBORNE PACKAGE (9) Click Back to return to the main screen. The next step is creating the flight plan. This will be the path, including altitude and speed, that the drone will fly for the scanning mission. 2-25...
  • Page 28 AIRBORNE PACKAGE 2.3 FLIGHT PLAN CREATION PLUS sign (1) With the UgCS application opened, click the Add new route button, (a) Next, click Create from scratch. (b) Click, Next. Figure 2-12. Initial Flight Plan. (2) Select the planned UAS, Matrice 600. (a) Give the new route a name for ease of identity or future reference.
  • Page 29 AIRBORNE PACKAGE Figure 2-13. DJI Matrice Selection. (3) Recommended route settings, for the next step are shown below. These include the Altitude mode and trajectory type. The return altitude is based upon having no obstructions taller than that defined height. Figure 2-14.
  • Page 30 This value must be Calculated depending on altitude and integration ® ® time of the Nano-Hyperspec sensor. The FOV calculator inside Hyperspec III can be used to calculate flight speed for a given frame rate or vice-versa. Actual flight speeds of the Matrice may vary by up to 1 meter per second slower.
  • Page 31 (q) No actions at last point: We are not using actions so this does not matter. (r) Double Grid: Do not use under most conditions, but possibly use with LiDAR. Contact Headwall for how this can apply to LiDAR flights.
  • Page 32 AIRBORNE PACKAGE Figure 2-16. Four Ground Points. (3) Below is a properly configured flight plan. Note the flight starts with the left side flight line and ends with the right side flight line. The last flight line also points to the take off position, for effective battery use and avoids collecting unwanted data.
  • Page 33 AIRBORNE PACKAGE (4) The flight plan is now ready to be used or can be exported in the main menu for later use. The number of flight lines is modified, increased or reduced, by changing the percent overlap, as well as altitude and the lens used with the Nano.
  • Page 34 Export KML. Using the Headwall Polygon Tool, a triggering polygon can be developed within the flight area. The polygon, once accepted can then be exported in a kml format and imported into the UgCS for comparison to the flight plan. The optimal result occurs when the flight plan starts and stops outside the trigger polygon, and flies well beyond the perimeter of the triggering polygon.
  • Page 35 AIRBORNE PACKAGE Alternatively, the flight plan in UgCS can be exported as a kml file and then imported into the Headwall Polygon tool. When the capture polygon and UgCS flight polygon are overlaid on the Polygon tool the user can see the trigger points and confirm each is properly aligned.
  • Page 36 (h) When the polygon is completed, export it to a location on the computer and name it accordingly. ® (i) Close the Headwall Polygon Tool and return to the GPS Pane in Hyperspec III (j) Disconnect from the Internet and close Hyperspec.
  • Page 37 AIRBORNE PACKAGE Figure 2-24. Populated GPS Panel. (10) The addition of this polygon to Hyperspec also uploads the polygon to the Nano sensor. (11) Close and re-open Hyperspec, open the GPS pane and confirm the polygon remains displayed in the panel, as above.
  • Page 38 UgCS home screen, and the wireless switch should be powered ON and operating with the tablet and drone. ® (a) Connect the laptop to the Nano-Hyperspec with an Ethernet cable and remove the lens cap. ® (b) Launch Hyperspec III.
  • Page 39 AIRBORNE PACKAGE Observe the Spectral intensity in the graph to the right of the live video window. The ideal range is 3000 to 3500 counts. The exposure time may require adjustment, increases or decrease as conditions dictate. Adjust the “Exposure (ms)” until the maximum value in the intensity spectrum is ~3000 counts. Setting the exposure will in some instances automatically change the Frame Period.
  • Page 40 AIRBORNE PACKAGE Figure 2-27. FOV Calculator 20.5 ms Exposure. If the exposure is the maximum, and there is a need to fly this mission, there is a solution, shown in the following image. Figure 2-28. FOV Calculator 20.5 ms Exposure. Note that the speed is now within operating range of the Matrice drone, 1 m/s.
  • Page 41 Check the Collect Dark Reference Collect 1000 Frames in 1 Cube check box, as shown below. Figure 2-30. Dark Reference Collection. Click Go and wait for the process to finish. Verify the dark reference file was created in the Capture folder, C:\headwall\sensor1\capture, or img\captured if saving to the Nano memory 2-39...
  • Page 42 AIRBORNE PACKAGE Remove the lens cap, uncheck Collect dark 1000 frames, and select the Enable GPS Triggering check box. and close the Capture panel. 2.5 ACQUISITION STEPS (1) Bring drone to desired take off location (an open area away from any buildings, trees, etc.) (2) Set up the calibration tarp on a flat surface within the area of interest that you will be flying (3) For best results, you may want to strategically place the tarp in an area coinciding with where your flight plan will directly pass over the tarp...
  • Page 43 (d) Watch on the tablet and ensure that the mission is uploaded successfully. (e) Use the rocker on the left shoulder of the controller to rotate the Nano-Hyperspec® to nadir position until the gimbal reaches its stop. Ensuring the gimbal is always rotated to its stop will produce the most consistent results.
  • Page 44 2.5.3 Additional Data for High-Performance GPS Users. a. It is recommended to use the supplied cable to power the Nano-Hyperspec® or Ronin MX and Nano-Hyperspec® directly. This saves battery time, when after the flights, the system is returned to the bench and data is downloaded.
  • Page 45 3.1 OVERVIEW The Headwall co-aligned unit is a series of sensors and IMU housed within a single, integral housing. The unit contains a SWIR and VNIR sensor, an Applanix APX-15 and Hypercore. The system is capable of holding 430 GB on each of the data drives, one on the VNIR and the second on the integral Hypercore.
  • Page 46 CO-ALIGNED Figure 3-2. Labeled Co-Aligned Unit. The VNIR and SWIR connections are routed through the adapter to the operating computer. The Applanix data is downloaded through the SWIR port using the IP address http://100.0.65.51:8080/. 3.3 SYSTEM OPERATION The system contains two sensors with the respective sensors aligned to the same axis. As such, when developing a flight plan both sensors require configuration.
  • Page 47 CO-ALIGNED Figure 3-3. Sensor Selection, HyperSpec III. When the two Live Video windows are open, use the exposure and FOV calculator to set the exposure for the available illumination. The purpose is to capture the data with square pixels in both sensors in a single flight. This is accomplished by first setting the exposure for each sensor and then matching the frame periods of the sensors.
  • Page 48 CO-ALIGNED HIS PAGE INTENTIONALLY LEFT BLANK 3-46...
  • Page 49 AIRBORNE PACKAGE CHAPTER 4 APPLANIX POST-PROCESSING NOTE This chapter is specifically for users who have captured hyperspectral data while using an Applanix APX-15 for geospatial IMU referencing. 4.1 APPLANIX DOWNLOAD. During the capture process, using a Nano configured with an Applanix APX-15, the Nano will store hyperspectral data. The APX 15 has internal storage and will hold the positional data from the flight.
  • Page 50 AIRBORNE PACKAGE Power ON the APX-15, connect it to the computer used for post-flight data processing. Set the computer network settings so the Applanix unit and computer are connected. The IP Address for the APX-15 is 10.0.65.100. Open a browser, entering the IP address for the Applanix, User name = admin, password = password. Figure 4-3.
  • Page 51 AIRBORNE PACKAGE Figure 4-5. Data File Structure When the data is selected, download into the previously created folder. Figure 4-6. Download File Confirmation Close browser window and disconnect the computer, power OFF the APX-15. 4-49...
  • Page 52 AIRBORNE PACKAGE 4.2 POSPAC FUNCTION. Locate and launch the POSPac application, used with the Applanix. Click New Default Project and then click Import, browse to the folder where the *.T04 files are located. Select the T04 files that overlap the collected hyperspectral data and click Import. Allow the import process to complete. Figure 4-7.
  • Page 53 AIRBORNE PACKAGE If there is a base station within 40km from the flight location, click the Smart Select drop down and then Single Base. Wait for the import process to complete, and click Close when finished. Wait for the QC Processor to finish. The GNSS QC Processor may fail with a message output.
  • Page 54 AIRBORNE PACKAGE With the application opened, select the GNSS-Inertial Processor button on the top line. Verify the GNSS Mode, as in the Settings view, is In-Fusion Single Base, circled on the right side of the following figure. If using a gimbal, set Stabilized Mount to Model. If no gimbal is used, set Stabilized Mount to None. Verify that the base station is listed.
  • Page 55 AIRBORNE PACKAGE 4.4 CREATE SBET FILE. Click Tools, then click Export. Figure 4-14. Create an OUT file. Select Custom Smoothed BET from the format drop down. Confirm that All Records, Ellipsoid and Post-processed are selected. The saved file must contain the string, SBET. Browse to the same folder where the hyperspectral data is located and make sure the file is named SBET_Mission1.out.
  • Page 56 AIRBORNE PACKAGE 4-54...
  • Page 57 Have waiver for restricted space Complete all check list items in the order they are presented. If you cannot check off an item STOP and correct the problem before continuing. Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step:...
  • Page 58 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify Weather Visual Visibility ≥ 3 miles/500 ft. below clouds Wind ≤ 15 mph, Precip. = None Laptop computer with Power and verify Ipv4 Setting correspond to...
  • Page 59 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify Controller Battery Visual Sufficient for planned flight, min 75% Gimbal Battery (if Visual Sufficient for planned applicable) flight, min 75% Gimbal Lock removed, Visual and manual that Removed and set aside if applicable.
  • Page 60 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify IMU Powered and Visual GPS disk in bottom left connected of Hyperspec III colored yellow without satellite coverage (inside) and green when satellite communication...
  • Page 61 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify 31 B APX Calibration Place powered drone in Visual take-off position, let sit static for 1 minute 31 C Flight APX Calibration Manually rotate drone 3...
  • Page 62 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify Tablet on Drone Visual Secure tablet to Controller controller Launch UgCS tab. Visual confirmation Launch UgCS on Visual confirmation laptop Drone Controller Visual Observe connection in...
  • Page 63 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify Stopped in correct Visual Identify location on location computer display. Identify the physical location. Manual control Controller switch set to Control UAV assumed for aircraft...
  • Page 64 PRE-FLIGHT Table 5-2. Operational Check UAS, Nano, Headwall IMU/GPS Step: Step: Item Procedure Acceptable Condition Verify Connect to Applanix Connect computer to Visual: Ethernet cable Applanix connected to device and computer Nano or Micro SWIR Open browser enter Applanix login opens http:\\10.0.65.100...