Navigating the Ground from Air: Active Monitoring with GPS/INS Geo-referenced LiDAR

A. Mohamed

Abstract:	LiDAR (Light Detection And Ranging) provides a novel solution to many of the navigation-based monitoring problems. Once properly geo-referenced, LiDAR provides direct properly scaled three-dimensional positional information from one source. The LiDAR information suits many applications especially those where direct light condition is not optimal. One such application where optimal light condition is not achieved at all times is ice displacement monitoring in the arctic region in northern Canada. Due to the oil and gas exploration activities in the McKenzie Delta and Beaufort Sea, and because it can hinder the exploration activity, movement of ice has been seriously considered; several options have been studied. One explored option is to install unmanned satellite-based mobile stations in several locations along the exploration activity area and continuously monitor positional changes remotely. Another option is to use airborne GPS/INS geo-referenced LiDAR system to fly the exploration area on a set schedule and continuously monitor the ice displacement from the air. This paper describes a research that was carried out in Alberta, Canada by Alberta research Council, All-Can Engineering, and LiDAR Services International Inc. (Formerly TerraPoint Inc. in Calgary) for the purpose of exploring the possibility of using navigation and LiDAR system to actively monitor ice movement. Canada Olympic Park in Calgary, Alberta was chosen to simulate the ice patch. Several flight passes using a Helix system mounted on a helicopter were flown in May 2002 to validate the concept. Specially designed targets on posts to reflect laser beam hits were used for that purpose. The preliminary results of the pilot project show the potential of using the GPS/INS geo-referenced LiDAR technology in target identification and ice movement monitoring. Enough laser hits to identify the targets were obtained by making the helicopter hover over the target area. Except for one target, positional accuracy of better than 0.10 m was obtained for the identified targets. For the sake of visualization, video imagery was taken at oneinch resolution. After being ortho-rectified and mosaicked, the video imagery was used to both identify the targets on the ground and match the LiDAR identified targets. A description of the pilot project along with test results are shown in the paper. Theoretical error analysis is conducted to support the filed results. Results of the target identification from LiDAR hits are shown and discussed. Results from the video imagery are also shown.
Published in:	Proceedings of the 2003 National Technical Meeting of The Institute of Navigation January 22 - 24, 2003 Disneyland Paradise Pier Hotel Anaheim, CA
Pages:	593 - 601
Cite this article:	Mohamed, A., "Navigating the Ground from Air: Active Monitoring with GPS/INS Geo-referenced LiDAR," Proceedings of the 2003 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2003, pp. 593-601.
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