HELIMAP: Rapid Large Scale Mapping Using Handheld LiDAR/CCD/GPS/INS Sensors on Helicopters

Jan Skaloud, Julien Vallet, Kristian Keller, Gregory Veyssiere and Otto Kölbl

Abstract:	The HELIMAP is a portable mapping system for quick helicopter deployment. It integrates high accuracy navigation sensors (GPS/INS) with Airborne Laser Scanner (ALS) and high-resolution digital (CCD) camera. The system is operated from the side of a helicopter and its unconventional design offers several conceptual advantages in comparison with other systems: quick installation (minutes), no need of recalibration after installation, possibility to map vertical or horizontal features with an optimal geometry and maintaining optimal flying parameters for camera and laser sensors at the same time. The products are high-resolution (<1m2) / high precision (~0.1m) DSM/DTM and ortho-rectified image (<0.05m/pixel). The paper presents the system hardware and software components, system calibration and a road map from acquisition to mapping product. Solved and open problems related to confrontation of GPS/INS with the challenging environment of helicopter navigation are exposed. The system mapping accuracy is evaluated for different scenarios using integrated or direct sensor orientation. Finally, the paper focuses on evaluating the laser surface determination accuracy under different scenarios and over different terrain.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	2461 - 2467
Cite this article:	Skaloud, Jan, Vallet, Julien, Keller, Kristian, Veyssiere, Gregory, Kölbl, Otto, "HELIMAP: Rapid Large Scale Mapping Using Handheld LiDAR/CCD/GPS/INS Sensors on Helicopters," Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 2461-2467.
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