Leica Geosystems IPAS Pro IPAS CO+ User Manual
Leica Geosystems AG 9435 Heerbrugg, Switzerland
Document Code: 754574 Document release: 2.0-2, 25-01-2010 This document shall not be reproduced in whole or in part without prior permission in writing from Leica Geosystems AG, 9435 Heerbrugg (Switzerland), either by mechanical, photographic, electronic, or other means (including conversion into or transmission in machine-readable form); stored in any retrieval system; used for any purpose other than that/ those for which it is intended; nor accessible or communicated in any form to any third party not expressly authorized by Leica Geosystems AG to have access thereto
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International Warranty The International Warranty can be downloaded from the Leica Geosystems home page at http://www.leica-geosystems.com/international warranty or received from your Leica Geosystems dealer.
Software License Agreement This product contains software that is pre-installed on the product, or that is supplied to you on a data carrier medium, or that can be downloaded by you online pursuant to prior authorization from Leica Geosystems. Such software is protected by copyright and other laws and its use is defined and regulated by the Leica Geosystems Software License Agreement, which covers aspects such as, but not limited to, Scope of the License, Warranty, Intellectual Property Rights, Limitation of Liability, Exclusion of other Assurances, Governing Law and Place of Jurisdiction. Please make sure, that at any time you fully comply with the terms and conditions of the Leica Geosystems Software License Agreement. Such agreement is provided together with all products and can also be found at the Leica Geosystems home page at http://www.leicageosystems.com/swlicense or your Leica Geosystems dealer. You must not install or use the software unless you have read and accepted the terms and conditions of the Leica Geosystems Software License Agreement. Installation or use of the software or any part thereof, is deemed to be an acceptance of all the terms and conditions of such license agreement. If you do not agree to all or some of the terms of such license agreement, you may not download, install or use the software and you must return the unused software together with its accompanying documentation and the purchase receipt to the dealer from whom you purchased the product within ten (10) days of purchase to obtain a full refund of the purchase price.
Table of Contents Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Chapter 1 The IPAS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Chapter 2 Installation and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 License setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 License server setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Application machine setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Configuration of Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 3 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Starting IPAS Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Launching IPAS Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Starting a New IPAS Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 The New Project Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 4 IPAS Pro Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Processing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Processing Options - IMU Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Processing Options - Using Pre-extracted Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Processing Options - GNSS Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Processing Options - Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 IPAS Pro Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Analyzing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Processed Data Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Raw Data Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Real-time Solution Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Residual Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Event Overlay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Make Differences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
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Table of Contents Chapter 5 IPAS PPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 IPAS PPP Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Background on precise orbit and precise clock corrections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 IPAS PPP Installation and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 IPAS PPP Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Step One: Data Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Step Two: Data Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Step Three: Solution Plotting and Quality Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Step Four: Export ASCII solution file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Chapter 6 IPAS CO+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 License Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Introduction to IPAS CO+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Misalignment Angle Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Automated Misalignment Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Misalignment Calculation with External AT Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Transform Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Point File Transform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Open and Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Appendix A GNSS Input Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Appendix B IPAS CO+ File Format Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Camera Event File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Photo ID File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 AT Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 IXYZOPK Format AT File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 ORIMA PATB AT File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Output Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Appendix C APM setting file Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 APM Settings File Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
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Chapter 1 The IPAS System Introduction
IPAS (Inertial Position and Attitude System) is an integrated georeferencing system developed by Leica Geosystems AG. It rigorously integrates raw data from a high accuracy GNSS receiver with the raw data from an Inertial Measurement Unit (IMU) using a Kalman filter and outputs position, velocity and attitude data at a high rate. The following figure illustrates the components of a IPAS20 System. Figure 1-1: IPAS20 System Components
The following diagram illustrates the functional flow for the IPAS20 system:
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The IPAS System IPAS Pro is a software package that post-processes IMU data together with GNSS data. It provides interfaces for the import and display of the raw data, the post-processing configuration setup, processing of GPS/IMU data, as well as the display and analysis of final computed solutions.
This manual describes how to use the IPAS Pro software.
Where to get assistance and training Please be aware, that for a complete understanding of the functionality and operation of the system it is necessary to participate in a IPAS20 product training and maintenance course For assistance and training courses please contact your local Leica Geosystems subsidiary or representative.
Headquarter
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Internet
http://www.leica-geosystems.com
Contact
Leica Geosystems AG Business Unit Digital Imaging Heinrich-Wild-Strasse 9435 Heerbrugg Switzerland
e-mail:
[email protected] Phone: + 41 71 727 3131 Fax: + 41 71 727 4674
IPAS Pro
Chapter 2 Installation and Configuration System Requirements
Installation
IPAS Pro is a software package that runs under the Microsoft Windows family of operating systems. Basic system requirements are the following: •
IBM PC-compatible computer,
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Windows 2000 or XP Operating Systems,
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128MB or greater RAM,
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10GB or greater free disk space. Larger disk space is recommended.
To install IPAS Pro software, double-click the setup.exe file on the IPAS Pro DVD. Follow the instruction provided by the installation program.
License setup Introduction
Starting from version 2.0 Leica IPAS Pro and IPAS CO use Leica Geosystems (LGS) FlexNet licensing. Entitlements and Activation With ordering a software product, customer gets an entitlement certificate with an EntitlementId. The Entitlement-Id is the key to the license(s) of a product. It must be entered during the license activation at customer site.
For the license activation user’s computer must be connected to internet. All issued licenses must be activated on the client license server computer. That means the target machine must be connected online to the FlexNet Operations (FNO) license server at Leica Geosystems through internet for getting the license. The license information is stored in a trusted storage on the client's computer. For running the application program, there is no connection to FNO required. Depending on the license model, a license can be returned to the license server FNO and rehosted to another machine. Re-hosting, as extended licensing functionality, is available only for registered customers.
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Installation and Configuration Return to FNO function should be used also for expired evaluation licenses. License Models There are two major types of models - node-locked and floating licenses. Node-locked license model is used for a fixed license on a single computer, whereas floating license model is used for sharing licenses between different users. The number of concurrent users is defined by the number of available licenses. IPAS software uses floating licenses. License Checking For checking a license, a running application program has to checkout / check-in the corresponding feature(s). The license is searched first in the local trusted storage at the application machine and then on the defined local license servers i.e. on the computer on which the user has activated the licenses by inserting the Entitlement Id(-s).
Application computers using floating licenses must stay connected online to a local license server. The borrowing of a license (temporary transfer of a single license from the license server to a computer) allows the offline usage of the license for a given period of time. After use, it has to be returned to the floating server; otherwise it expires automatically after ending of the borrowing time.
For using floating licenses in a single computer environment the computer has to be set up for local license server and for application machine. Licensing software LGS FlexNet uses: •
on local license server - Client License Manager (CLM) Server SW (clm_server_package.exe)
•
on application machine - Leica License Manager (LLM) SW - (LLM_Installer.exe)
For using ERDAS FlexNet licenses ERDAS-FlexNet_Licensing.exe has to be installed to a local license server. IPAS ABS license, which is required for Leica IPAS CO+ functionality, uses Erdas FlexNet licensing.
License server setup
License server is usually a server machine in the environment which serves the licenses to the application machines connected into company network. It is also possible to use the floating license model if only one workstation is available - in that case this single workstation has to fulfill both functions - being license server and application machine.
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License setup
1.
Install clm_server_package.exe to the local license server. Follow the instruction provided by the installation program.
2.
It is recommended to configure the license server for faster return of license features to the free pool with specifying the idle timeout time. For this configuration step: •
Open the license server option file lgs.opt, located in the servers installation folder (usually C:\Program Files (x86)\Common Files\Leica Geosystems\License-Server\), in text editor.
•
Add the line TIMEOUTALL 900 to specify the idle timeout for all features, returning it to the free pool for use by another user. 900 seconds is the minimum time system allows.
The license server option file lgs.opt should look as follows: ===== DEBUGLOG lgs.log NOLOG IN TIMEOUTALL 900 ===== 3.
Open the CLM Admin Server SW and activate the licenses by entering the Entitlement Id.
For the license activation user’s local license server computer must be connected to internet. Once the licenses have been activated the connection to internet is no longer required.
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Installation and Configuration Figure 2-1: Enter Entitlement Id
Click ‘View Licenses in use’ in order to see the activated licenses. Figure 2-2: View Licenses in use
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License setup
Use ‘Return licenses’ function from ‘View Installed Licenses’ menu in case the rehosting of the licenses to another local license server is intended. IPAS ABS license setup IPAS ABS license, which is required for Leica IPAS CO+ Aerial Triangulation funtionality, uses Erdas FlexNet license server provided with ERDAS-FlexNet_Licensing.exe. ERDAS-FlexNet_Licensing.exe has to be installed to the local license server.
Application machine setup
Application machine is the workstation with IPAS Pro installation.
1.
Install the LLM_License_Installer.exe to the application machine. Follow the instruction provided by the installation program.
2.
Open the LLM tool and go to ‘Config’ window for defining from which license server the LGS and ERDAS licenses are used. Browse to or type in the server name. Click ‘Add’ for adding the license server to the list. Click ‘Save’. In case the whole setup is done with a single workstation and the application machine is acting also as license server then type in 'localhost'. Figure 2-3: LLM Configuration
View Floating Licenses After the configuration the licenses can be used at the application machine. Go to ‘Floating Licenses’ window and click ‘Refresh’ for viewing the available floating licenses from the listed license server(s).
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Installation and Configuration Figure 2-4: View Floating Licenses
Node Locked Licenses Leica IPAS Pro and IPAS CO use solely the Floating License model - thus handling of Node Locked Licenses is not the subject for IPAS software.
LLM offers ability to handle Node Locked Licenses. In order to activate the Node Locked licenses go to ‘Node Locked Licenses’ window, enter the Entitlement ID and click ‘Activate’.
For the license activation user’s computer must be connected to internet. Click ‘Refresh’ for viewing the available node lock licenses.
In order to Return the activated node lock license to FNO pick the license from the list and click ‘Return’. License Return operation requires internet access.
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License setup
Figure 2-5: Node Locked Licenses
Borrow Floating Licenses LLM tool allows to Borrow the Floating Licenses from the local license server in order to make the licenses available in application machine(s) for the cases when the network connection between the local server and the application machine will not be available. Highlight in the list the license to be borrowed. Set the intended number of days and click ‘Borrow’. License will be returned automatically once the number of the borrowing days has passed. User can return the license earlier by highlighting the borrowed license and clicking ‘Return’. Application machine has to be connected to the local license server for Borrow and Return operation.
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Installation and Configuration Figure 2-6: Borrow Floating Licenses
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Configuration of Processor
Configuration of Processor
IPAS Pro consists of two main parts: the user interface and the processor kernel. The location of the processor kernel is automatically specified during the IPAS Pro installation process. However it can be changed. To specify a different kernel location, select Tools -> Config Options from the IPAS Pro menu bar. The following dialog allows you to specify the location of the processor kernel. This dialog also allows the user to specify the locations for IPAS CO and IPAS PPP processor.
Figure 2-7: Configuration Options
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Installation and Configuration
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IPAS Pro
Chapter 3 Getting Started Starting IPAS Pro
This chapter provides you with concise descriptions of the functions and utilities of the IPAS Pro software and describes a general procedure used in the GPS/IMU processing.
Launching IPAS Pro
To start the program, double-click on the IPAS Pro icon or its shortcut. After the program is invoked, the splash screen is displayed: Figure 3-1: The IPAS Pro Startup Splash Screen
The IPAS Pro splash screen closes in a few seconds and the Open Project dialog is displayed:
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Getting Started Figure 3-2: The Open Project Dialog
The Project field of the dialog displays the location of your IPAS Pro project file. Click the Browse button to the right to navigate to the location of your project file. The Recent Projects window displays the recent IPAS post processor projects that have been used. Up to five projects may be displayed. The projects that cannot be found anymore are displayed in red. If your project is not located in the recent project window, click the Browse button to navigate to it.
When a existing project is opened, if the directory path for any of the data files (IMU data file, GNSS data file, etc) is changed, then a dialog window will be displayed to prompt the user that the file does not exist in that directory as saved in the project file and try to detect whether it exists or not under the current directory where the project file is opened currently. Figure 3-3 shows an example where the IPAS Pro project was copied from Z:\IPAS20_TestData directory to E:\IPAS20_TestData directory. Any file which does not exist in any directory will be displayed in red color. Beside each file, a browse button allows the user to select individual directory for each file. The user can press Continue with Change button to continue so that all new project directory will be saved, or press Continue without Change so that the original directory structure will be maintained, or Cancel to go back to the IPAS Pro menu. This function allows the user to change all the project structure at one window when an entire project is copied into a new directory.
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Starting a New IPAS Project
Figure 3-3: The Project File Directory Change Dialog
The New button allows you to create a new IPAS Pro project. This is discussed in the Create A New Project section.
Starting a New IPAS Project
You can start a new project by clicking the New button on the Open Project dialog. The New Project dialog opens. Figure 3-4: New Project Dialog
The New Project Dialog
The location of the IPAS Pro project file can be specified by clicking on the browse (...) button and navigating to the desired folder on your computer, or by typing the path of the project directly into the Project Name box. Click the Create button to create a new IPAS Pro project and open the IPAS Pro processing screen. In the top left-hand corner of the IPAS Pro window, there is a toolbar with three icons. Figure 3-5: Icons toolbar
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Getting Started With this toolbar, you can create a New IPAS Pro project, Open an existing IPAS Pro project, and Save a current project. This toolbar can be accessed at any time when IPAS Pro is active.
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Chapter 4 IPAS Pro Processing IPAS Pro uses rigorous Kalman filtering to determine the optimal solution for position, velocity and attitude of an airborne mapping and remote sensing vehicle using GNSS and IMU data. The quality of its solution relies heavily on the quality of the collected IMU and GNSS data. Before processing, the physical references such as the GNSS antenna lever arms and the gimbal frame to IMU reference frame lever arms should be known with great accuracy to reduce the possibility of errors in the processing.
Processing Options
After creating a new IPAS Pro post processor project, the following dialog opens. This dialog is the main processing area of the IPAS Pro post processor. Figure 4-1: The IPAS Pro Processing Dialog
This is where you specify raw IMU and GPS data locations, processing options, start the processing, and invoke the plotting functions. The Project field shows you the projects that are loaded and the location of the IPAS Pro project file. Figure 4-2: The Project Field
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IPAS Pro Processing
It is a good practice to organize a project according to the following directory structure: Project_Directory ... Extract - for extracted data ... Ground - for reference GNSS receiver data ... GNSS - for processed GNSS data ... Raw - for raw IPAS data ... Proc - for processed and final solution files Processing Options IMU Data
The Data fields allow you to specify the location of the IMU data file and GNSS data file. Figure 4-3: Processing Options Data Field
In order for IPAS Pro to function properly, it requires the raw data files from the IPAS system as well as a post-processed GNSS solution file. Clicking the Raw Data button opens the IPAS Pro IMU Data Selection dialog.
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Processing Options
Figure 4-4: IPAS Pro IMU Data Selection Dialog
To specify the location of the raw data file, click the Data File browse button (...). Usually, the raw data is located in the /raw directory. Where is the name of the directory you create to contain all of the flight data. To specify the location of the extracted files, click the Extract Directory browse button (...). A directory named extract is created automatically by IPAS Pro. Click the Options button to open the IPAS Extract Options dialog. This dialog allows you to select the data to be extracted. If you intend to extract the real-time solution as well as raw measurements, check the RT GNSS solution and RT Navigation Solution check boxes. Figure 4-5: IPAS Extract Options Dialog
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IPAS Pro Processing To start extracting, click on the Extract button. IPAS Pro reads the raw data file and extracts the data to the folder specified in the Extract Directory field. If the folder does not exist, it will be created automatically.
When extracting multiple raw data files, only the first file needs to be specified, IPAS Pro automatically moves to next files and extracts all raw data files in sequence. A progress meter opens to inform you of the percentage completed during the extraction process. Figure 4-6: Raw Data Extraction Progress meter
IPAS Pro informs you when the extraction is complete. The duration of the extraction process depends on the size of the GNSS/IMU data set and computer processing power. IPAS Pro separates the raw data into up to several separate files. Each file corresponds to a different type of data. A brief description of each file is listed below:
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•
*.GMB
Gimbal data collected during the mission,
•
*.GPS
GNSS data collected during the mission,
•
*.IMU
IMU data collected during the mission,
•
*.TM
•
*_*. Evt - Input Event File. Each input event will be stored in a separate event file. The file prefix will be the prefix from the raw data file name. For example, 20050624100053_FlightData_1.evt is the event file from channel one event.
•
*_out_*.Evt - Output Event File. Each output event is also stored in a separate event file. The prefix of the file will be the prefix of the raw data file.
•
*.RTG - Real-time GNSS solution file.
•
*.RNV - Real-time GNSS/IMU integrated IPAS solution file.
•
*.SUP - IPAS supplemental file where the all the lever arm information is stored.
User time file. This file is generated during the extraction process and specific to the Leica ADS40 Airborne Digital Camera system used to collect the imagery.
IPAS Pro
Processing Options
Figure 4-7: Extracted File Types
All messages are written into an extraction log file. During the extraction process, the integrity of the files, including their time gaps, is checked and reported in both the message window and the extraction log file. The resultant file sizes depend on the length of each mission. Generally, *.RNV and *.IMU files are the largest of the four extracted files. Once the extraction is complete, the IPAS Pro IMU Data Selection dialog looks like the following figure. Figure 4-8: Completed IMU Data Selection Dialog After Extraction
The log window is constantly being updated as the extraction proceeds. This log window contains information regarding: •
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extraction results,
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IPAS Pro Processing •
system version,
•
lever arms,
•
IMU data file,
•
GNSS data file,
•
gimbal data file,
•
TM file, and
•
Gap checking for IMU data, gimbal data and raw GNSS data.
•
Gap checking and repairing for TM file. If the gap is smaller than 50 milliseconds, then the gap will be repaired and additional TM records will be interpolated and fill the gaps. If the gap is larger than 50 milliseconds, then a error message will be displayed in the extract window and saved in the extract log file.
Clicking on Save returns you to the IPAS Pro Processing dialog. The file names used in this dialog are automatically saved into the project file. Some settings in the raw data file, including lever arms, are automatically written to the configuration settings in the project file so that you only need to verify the lever arm values. Processing Options Using Pre-extracted Data
IPAS Pro also has the ability to allow you to use pre-extracted GNSS/IMU data in processing. The pre-extracted data must be based on the IPAS Pro extraction file formats and is not interchangeable with other GPS/IMU processing extraction formats. To verify that your extraction file format is correct, select the file and then click the Check Files button. The process for using pre-extracted data is very similar to processing raw data. To begin, click the Raw Data button on the IPAS Pro Processing dialog to open the IPAS Pro IMU Data Selection dialog. Locate the IMU button in the dialog: Figure 4-9: IMU File Selection Portion of IMU Data Selection Dialog
Click on the IMU button and navigate to the location of the extracted IMU data. Once you have located it, click on the Open button to load the IMU data in IPAS Pro. IPAS Pro will automatically identify the corresponding gimbal file (*.GMB file) if it exists. It is important to note that the folder that contains the *.IMU file should also contain a *.GMB, *.GPS and *.TM file for the corresponding date and mission. Click on the Check Files button to ensure that the *.IMU file, *.GMB and *.GPS are files are free of error. Click the Done button to return to the main processing options.
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IPAS Pro
Processing Options
Processing Options GNSS Data
Post-processed GNSS solutions are needed in order for IPAS Pro to produce accurate georeferenced results. Many kinds of post-processing software are available, but the software that you are using must be able to export the processed GNSS data to an ASCII file. IPAS Pro post processor requires the input post-processed GNSS file to be in a special format, which is defined in Appendix A “GNSS Input Format”. The IPAS Pro Processing dialog should look like the following: Figure 4-10: IPAS Pro Processing Dialog After Raw Data Import
Click the GNSS button to open the IPAS Pro GNSS dialog: Figure 4-11: IPAS Pro GNSS Dialog
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IPAS Pro Processing IPAS Pro allows you to launch your preferred GNSS processing software from within IPAS Pro. In order to do this, you must first select your preferred GNSS processing program by clicking on the browse button and navigating to the location of the executable file for your GNSS post processing software on your computer. Once this file is selected, click the Launch button to launch the GNSS post processor. For the purpose of this help file, GrafNav from NovAtel Inc. is used as the default GNSS Post-Processing software. After completing the GNSS processing in GrafNav, a ASCII file is exported using the profile created by IPAS Pro. Select this ASCII file in the ASCII GNSS Solution File field and click on Import File button, this GNSS file will be converted into binary format file used by IPAS Pro and displayed in the IPAS Binary GNSS File field. Precise Point Positioning (PPP) can also be used to process the GPS data when a reference receiver is not present. To start PPP, click on the Start button under the Precise Point Positioning, follow Chapter 5 for PPP processing. The PPP software will generate the binary GPS Solution file required by IPAS Pro automatically and display the file name in the IPAS Binary GPS File field.
After selecting the proper post-processed ASCII GNSS file, the window should appear similar to the following: Figure 4-12: IPAS Pro GNSS Dialog After GNSS File Selection
Click the Import File button to convert the ASCII file into a binary file specific to the processing needs of IPAS Pro. A progress meter reports on the progress of the ASCII import. Figure 4-13: GNSS ASCII File Import Progress Dialog
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IPAS Pro
Processing Options
Click the Close button to return to the IPAS Pro GNSS dialog. Click the OK button to finish the GNSS portion of the IPAS Pro project setup. Processing Options Processor
The processing of the GNSS and IMU data can commence once the raw IMU data and postprocessed GNSS data have been loaded into IPAS Pro. A properly completed dialog should look similar to the following figure: Figure 4-14: IPAS Pro Processing Dialog After Raw and GPS Data Imports
Click the Configure button to open the Processor Configuration dialog. Figure 4-15: Processor Configuration Dialog
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IPAS Pro Processing This is the initial page that provides you with setup of the processor configuration. It is important to note the time ranges between the GNSS file and IMU file to ensure that each time range overlaps with one or the other. The time ranges are displayed in GPS week seconds after each file type to the right of the file name. The time range for IMU data has to lie within the time range of the GNSS data.
IPAS Pro will automatically process all data within GNSS and IMU data time window. However, user can change the data time. To set the processing time window, uncheck the All Data check box, and set the GPS week seconds into the corresponding edit boxes. In this configuration page, you can also select a different output directory. The output format is IPAS Pro. After the processing the File Converter Tool can be used in order to convert an IPAS Solution File into a SBET file or into an ASCII file, or convert a SBET file into an IPAS solution file or an ASCII file. Select Tools -> File Converter from the IPAS Pro menu bar to launch File Converter. Figure 4-16: File Converter Tool Dialog
Processing Options - Processor - GNSS Click the GNSS tab of the configuration dialog to verify the GNSS lever arm measurements.
Lever arm values are automatically extracted from the raw data file and written to the configuration settings in the project file.
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IPAS Pro
Processing Options
A lever arm can be defined as the three dimensional coordinates of a point with respect to a coordinate frame. In IPAS Pro, all lever arms are measured in the reference frame. The referece frame is usually defined by the mapping or remote sensing unit. For example, with the ADS40, a reference frame is defined with the PAV30 mount, with the origin of the reference frame at the PAV30 center while x-axis points to forward, z-axis points downward and y-axis points to right to form a right-hand coordinate system. Usually two lever arms are required to measure in the field when IPAS10 is istalled, one is the GNSS antenna while the other one is the IMU center. Those values are measured during the installation and entered into the IPAS10 system through the IPAS Controller. A field technician should verify the lever arm values whenever there is a change of installation related to reference sensor, IMU, or GNSS antenna.
For each set of flight data to be processed, the values of the lever arms should be verified against the published values provided by the hardware installer or system operator. Figure 4-17: GNSS Lever Arm Dialog
This dialog is used to verify and correct, if necessary, the GNSS lever arm in the reference frame. As illustrated in the above figure, the lever arm values are measured along the x, y, and z axes of the reference frame from the center of the reference frame to the GNSS antenna phase center.
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IPAS Pro Processing Processing Options - Processor - IMU Click the IMU tab to enter the IMU lever arm and boresight measurements. Figure 4-18: IMU settings Dialog
This configuration page is where you verify and correct, if necessary, the IMU lever arm and boresight angle measurements. As illustrated in the above figure, the IMU lever arm is measured along the x, y, and z axes of the reference frame from the center of reference frame to the IMU center. The boresight angles are also measured as the rotation angles of IMU body frame relative to the reference frame. IMU Latency value gets detected automatically according to the IPAS system IMU type and is shown in the IMU Latency window as grayed out. Editing of the latency value is normally not required. When a NUS5 IMU is detected, a data filter list box is displayed. A default filter file is supplied with IPAS Pro to use with all NUS5 systems. The other options for the user would be to select ‘Do not Apply Filter’ or ‘Browse for Filter File’. Leica Geosystems support provides the specific filter files only for the certain NUS5 IMU-s.
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IPAS Pro
Processing Options
Processing Options - Processor - Aircraft Click the Aircraft tab to enter the aircraft boresight settings. Figure 4-19: Aircraft Frame settings Dialog
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IPAS Pro Processing Processing Options - Processor - Advanced Click the Advanced tab to enter the advanced processing settings. Figure 4-20: Advanced settings Dialog
Three types of attitude initialization approaches can be selected from this page:
30
•
Use Static/In-Motion Alignment. This is the default approach. IPAS Pro will automatically compute the initial roll, pitch and heading.
•
Use real-time Solution. Attitude computed from real-time IPAS solution are used to intialize the IPAS Pro Kalman filtering.
•
User Input Attitude. User can set initial roll, pitch and heading at a specified GPS week seconds. IPAS Pro will start the Kalman filter based on this initial setting.
IPAS Pro
IPAS Pro Processing
IPAS Pro Processing
Once setup is completed, click the GO button to open the Start Processing dialog. The Start Processing dialog allows you to verify that the incorporated GNSS/IMU data is correct and that their time windows overlap. Figure 4-21: Start Processing Dialog
Click the Output File browse button to specify the location of the output file. By default, all overlapped data is processed. However, you can also specify different start time and end time in GPS week seconds. IPAS Pro will not function properly if the Data Time period does not lie within the time ranges of the GNSS and IMU data sets. Click the Start button to begin processing. A progress meter displays the progress of the job as well as the estimated time of completion. Figure 4-22: Processing Progress Dialog
Click the >>> button to open the Log window which provides a detailed description of the state of the current progress. Click the Image is used
•
Disregard = 1 => Image is disregarded
Rotation from object to image system: •
Rotation sequence = 0 => X-axis, Y-axis, Z-axis
•
Rotation sequence = 1 => Y-axis, X-axis, Z-axis
•
Rotation sequence = 2 => X-axis 100[gon] fixed, Y-axis, X-axis, Z-axis
The file is free formatted. Each parameter must be separated by at least one space character. Below is an example of the file. **** Start of Data **** 1_1012 0
dss_hkk 0
1
1378.33746158
224.767091959
-1.16284250374
-0.461422760170
1_1011 0
Output Files
0
0.00000 975.481531886 75.8838647773
dss_hkk 0
1
1154.91811588
282.323029356
0.489754072088
-0.776188263824
0
0.00000 970.386572587 76.4722729664
There are four types of output formats supported in the IPAS CO when transforming an IPAS Pro solution file to an output file. And they are Standard ASCII, PATB, LPS and TerraPhoto. These formats are described in the following section in detail.
Standard ASCII
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IPAS Pro
This format will output all of the transformed values for each event into columns on a single row. The output file is pre-pended with a header line which reflects the units chosen in the transformation. The Easting and Northing are in the user selected projection system. The Height is in the user selected vertical reference.
ID Event#
GPS Time(s) Easting(metres) Northing(metres) Ell Ht(metres) Omega(deg) Phi(deg) Kap(deg)
Lat(deg)
Lon(deg)
174230360
11 451419.683656 549050.336 4321967.926 514.179 -0.28624
0.78102 -16.58954 39.04540362 117.56681555
174230390
12 451422.612737 548879.648 4322031.276 516.141
1.39473
0.54696 -16.67999 39.04598402 117.56484775
174230410
13 451425.551820 548708.738 4322092.943 517.672
1.06902
0.46450 -15.63299 39.04654925 117.56287723
174230440
14 451428.496101 548537.467 4322152.554 517.863
1.60459 -0.29796 -14.92201 39.04709593 117.56090237
174230470
15 451431.377483 548368.899 4322208.980 516.794
1.22220 -0.45445 -15.35683 39.04761372 117.55895848
PATB
This is the PATB format as supported in the program ORIMA. Each event is printed out over 4 rows in the output file. The structure of the file is:
Row 1:Image ID
Camera ID
Row 2:Flags: Disregard [0] Rotation sequence [0] Unused [0] Unused [0] GPS Time [s] Row 3:Coordinates of projection center X Y Z (in user selected projection) Row 4:Orientation angles Omega Phi Kappa [deg] 174230360 0
CAMERA_ID 0
0
0 451419.68366
549050.33593057 4321967.92587762 -0.28624186211
0.78101538229
174230390 0
CAMERA_ID 0
0
0 451422.61274
548879.64756693 4322031.27574019 1.39472630373
0.54696225104
CAMERA_ID 0
0
0 451425.55182
548708.73772100 4322092.94329618 1.06901786731
516.14121403
-16.67999209078
174230410 0
514.17897075
-16.58953533066
0.46450072602
517.67153322
-15.63298505995
LPS
This option creates 3 files which help to facilitate data entry into Leica LPS and ORIMA. The user will specify the name of the first file, and two other files will be created with a (.gps) and a (.imu) extension. The units and projection of the output data will be user-specified.
The record content for the first file is:
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PhotoID EventID X Y Z Omega Phi Kappa
Note: To use this file as exterior orientation input in LPS, the user must manually edit the second column (EventID), and replace the values with the full image names (without file path) associated with the PhotoIDs.
File 1: 174230360
11 549050.336 4321967.926 514.179 -0.28624
0.78102 -16.58954
174230390
12 548879.648 4322031.276 516.141
1.39473
0.54696 -16.67999
174230410
13 548708.738 4322092.943 517.672
1.06902
0.46450 -15.63299
174230440
14 548537.467 4322152.554 517.863
1.60459 -0.29796 -14.92201
174230470
15 548368.899 4322208.980 516.794
1.22220 -0.45445 -15.35683
174230500
16 548192.656 4322265.429 515.585 -2.29184
0.62298 -15.57313
The (.gps) file is used as GPS antenna entry in ORIMA. The structure of this file is:
PhotoIDX Y ZtimeSig-XSig-YSig-ZOff-XOff-YOff-ZProfileID
Note: In IPAS CO output, the values for Sig-X, Sig-Y, Sig-Z, Off-X, Off-Y and Off-Z will always be 0. The ProfileID will always be 1.
File 2: (.gps) 174230360 549050.336 4321967.926 514.179 451419.683656 0.000 0.000 0.000 0.0 0.0 0.0 1 174230390 548879.648 4322031.276 516.141 451422.612737 0.000 0.000 0.000 0.0 0.0 0.0 1 174230410 548708.738 4322092.943 517.672 451425.551820 0.000 0.000 0.000 0.0 0.0 0.0 1 174230440 548537.467 4322152.554 517.863 451428.496101 0.000 0.000 0.000 0.0 0.0 0.0 1 174230470 548368.899 4322208.980 516.794 451431.377483 0.000 0.000 0.000 0.0 0.0 0.0 1 174230500 548192.656 4322265.429 515.585 451434.366047 0.000 0.000 0.000 0.0 0.0 0.0 1
The (.imu) file is used as IMU angle entry in ORIMA. The structure of this file is:
PhotoIDOmega Phi Kappa SigmaOmega SigmaPhi SigmaKappa
Note: In IPAS CO, the values for SimgaOmega, SimgaPhi and SigmaKappa will always be 0.
File 3: (.imu) 174230360 -0.28624 0.78102 -16.58954 0.00000 0.00000 0.00000 174230390 1.39473 0.54696 -16.67999 0.00000 0.00000 0.00000 174230410 1.06902 0.46450 -15.63299 0.00000 0.00000 0.00000 174230440 1.60459 -0.29796 -14.92201 0.00000 0.00000 0.00000 174230470 1.22220 -0.45445 -15.35683 0.00000 0.00000 0.00000 174230500 -2.29184 0.62298 -15.57313 0.00000 0.00000 0.00000
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TerraPhoto
When this option is selected, IPAS CO will create a exterior orientation file inTerraPhoto format. The file format is: [TerraPhoto image list v2] GPSTime (week seconds) East (m) North (m) Height (m) Heading (degrees) Roll (degrees) Pitch (degrees) HistogramInformation CameraIndex ImageName
A example of the file is shown in the following: [TerraPhoto image list v2] 328756.563910 270470.685 4716243.056 2442.205 -9.95328 -5.61941 2.87508 N 0 17150110100088G3.tif 328763.834040 270470.028 4716774.495 2440.281 -8.72901 2.17106 3.04531 N 0 17150110100089G3.tif 328771.060280 270484.358 4717304.788 2442.555 -8.05026 -0.67541 4.20221 N 0 17150110100090G3.tif 328778.359350 270496.282 4717834.399 2449.091 -9.36022 -2.06351 3.79396 N 0 17150110100091G3.tif 328785.749270 270501.756 4718367.581 2448.515 -8.73227 -0.11616 2.81796 N 0 17150110100092G3.tif
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Appendix C APM setting file Description This Section contains a description of the setting file that is used during Automated Point Matching (APM). At times, it may be necessary for you to edit the Tie Point Pattern file to achieve the best ties between your images. Please note changes to the file are made by hand editing the contents to suit the needs of the project. Care must be taken not to introduce errors into the file that might cause problems in reading the file.
Table 6-1: APM Settings File Value Type
Unit
Ran ge
PATTERN_SAMP_START
Double
Percent
0-100
15
Across line start position of the first point to find.
PATTERN_SAMP_REPEAT
Double
Percent
0-100
35
Across line repeat positions for each row of lines to find.
PATTERN_SAMP_USER
MultiDouble
Percent
0-100
PATTERN_LINE_START
Integer
Pixels
>0
500
Along line start position of the first pixel to find.
PATTERN_LINE_REPEAT
Integer
Pixels
>0
1500
Along line repeat distance to search for points until the end of the line. APM will automatically adjust this value internally if the value given is too large and thus not provide the required amount of points to form a strong photogrammetric solution. The strongest geometry for points is to have three columns of points between projection centers, if the value given here does not meet this criteria, the software will adjust this automatically.
Keyword
User Manual
Default
Description
Across line positions for each row of lines to find, specified by the user (in percent), e.g. PATTERN_SAMP_USER 10.0 35.0 55.0 90.0 When this field is present, the PATTERN_SAMP_START and PATTERN_SAMP_REPEAT will be ignored.
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Table 6-1: APM Settings File Keyword PATTERN_LINE_USER
Value Type Multidouble
Unit Percent
Ran ge
Default
0 - 100
Description Along line positions for each set of sample patterns to find, specified by the user (in per-cent of total line length), e.g. PATTERN_LINE_USER 10.0 35.0 55.0 90.0 When this field is present, the PATTERN_LINE_START and PATTERN_LINE_REPEAT will be ignored.
INLINE_INIT_MASTER_SE ARCH_SIZE
Integer
Pixels
>0
100
This is the width and height of the initial search area around the seed point on the master image to locate an interest point.
INLINE_TARG_TEMPLATE_ Integer SIZE
Pixels
>0
15
This is the size of the image template given in pixels.
INLINE_L1_ELEV
Double
Proj Dist Unit
1000
If the ELEV_MODE from above is set to MANUAL then this is the L1 rectification elevation used within the ADS APM to rectify the master and target patches.
INLINE_MIN_ELEV
Double
Proj Dist Unit
900
If the ELEV_MODE from above is set to MANUAL then this is minimum elevation used for the epipolar search.
INLINE_MAX_ELEV
Double
Proj Dist Unit
1100
If the ELEV_MODE from above is set to MANUAL then this is maximum elevation used for the epipolar search.
INLINE_RMS_CUTOFF_PE R_PIXEL
Double
Unitless >0
1.5
Represents gray value differences between the master and target templates.
INLINE_CORRELATION_CU Double TOFF
Unitless 0-1.0
0.7
Cross-correlation threshold for inline matches.
INLINE_PARALLAX_CUTOF Double F
Pixels
0
4.0
Parallax threshold used for discarding points while finding points in the same strip.
INLINE_EXPECTED_PARAL Integer LAX
Pixels
>0
6
The a priori parallax error. This affects the search width and minification logic for the target area. Increasing this value will increase the number of pixels searched (at the price of speed). Increase this value (and the cutoff value) when large initial parallaxes are observed.
TRANSFER_TEMPLATE_SIZ Integer E
Pixels
>0
15
Size of the image template used for transfer operation.
TRANSFER_CORRELATION Double _CUTOFF
Unitless 0-1.0
0.7
Threshold correlation value to accept points during transfer.
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Table 6-1: APM Settings File Value Type
Unit
TRANSFER_PARALLAX_CU TOFF
Double
Pixels
TRANSFER_INLINE
Integer
SUBPIXEL_SEARCH
Integer
Keyword
Ran ge
Description
9.0
Parallax threshold used for discarding points during a transfer operation.
Boolean 0 or 1
0
This option is used when adding bands to a strip and transferring points to these new bands without having to re-run the point finding operation on the entire strip. Setting value to 1 will allow the existing points to be transferred to newly added band in the same strip.
Boolean 0 or 1
1
Sets whether subpixel matching estimation will be used. Subpixel matching should improve the matching accuracy. This should be reflected in a smaller a-posteriori sigma0 in the AT. This function will increase matching time.
RECTIFY_SUBBLOCK_SIZE Integer
Pixels
>0
4
The L1 subpatch to be rectified. A larger value will increase speed but possible decrease rectification accuracy (depending on flight dynamics). A smaller value will decrease speed but increase rectification accuracy.
ALLOC_MAXSIZE
Integer
Bytes
>0
4000000
The largest allowable buffer memory allocation size to be created for reading image buffers.
INTEREST_WINDOW_SIZE Integer
Pixels
>0
11
Interest operator window size (value should be an odd number).
INTEREST_CIRCLE_CUTOF Double F
Unitless 0-1.0
0.75
Interest operator "roundness" cutoff for determine best interest point.
APM_MODE
User Manual
String
>0
Default
FULL, FULL INLINE _ONLY, TRANS FER_O NLY
This tells the APM operation to find and transfer points. Allows for transfer of points only, find new points within ADS Lines only, or perform both operations.
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Table 6-1: APM Settings File Keyword
Value Type
Unit
Ran ge
Default
ELEV_MODE
String
DEM_NAME
String
DEM_ACCURACY
Double
Proj Dist Unit
>0
50
This is a scalable value that allows you to set the perceived accuracy of the DEM. Since the JPTF DEM is roughly 1 km spacing, not all regions on the surface of the earth can be represented very well. For instance, mountainous regions with many valleys and fast changing terrain will not be described very well with a coarse JPTF DEM. This value allows the APM to expand the search along the epi-polar line for points. A larger DEM_ACCURACY value will open a longer search space along the epi-polar line to search for points. A larger value will also generate more samples for the APM to test, thus slowing down the overall APM process. For flat terrain this value can be set lower, but for mountainous regions, this might be set higher to aid in finding more points.
INLINE_MATCHMODE
Integer
Integer
1,4
1
This is the algorithm used to match points. 1 = Conventional epi-polar constrained cross-correlation; 4 = Hierarchical search cross-correlation
TRANSFER_MATCHMODE
Integer
1,4
1
This is the algorithm used to match points. 1 = Conventional epi-polar constrained cross-correlation; 4 = Hierarchical search cross-correlation
USE_MULTITHREADING
Integer
0
Whether to use multi-threaded approach
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DEM, DEM MANUA L
Description This elevation mode is used to select the method which APM will use to set the terrain height seed point for finding points. Valid entries are DEM or MANUAL. The DEM setting will force APM to use the DEM specified by the user in the XPro initialization file or alternatively with the DEM_NAME. IPAS CO+ installation supplies a global JPTF DEM with grid spacing of 30 arc seconds (derived from USGS GTOPO30 dems). Accuracy varies by location but is typically better than 100m.( MANUAL will force the APM to use elevations defined within this settings file. When the elevation mode is set to DEM, this value can identify the full path of the JPTF dem file. APM will use the default DEM specified in the XPro initialization file.
Boolean 0 or 1
IPAS Pro
Table 6-1: APM Settings File Keyword
Value Type
Unit
Ran ge
NUM_THREADS
Integer
>=1
TP_FILE_FORMAT
String
IPT, IPF, BOTH
PRESMOOTH_IMAGES
Integer
POINT_CLUSTER
Integer
Default
Description By default, the number of threads created will be equal to the number of processors de-fined in the environment variable (NUMBER_OF_PROCESSORS). The user can set this to any value they choose.
IPT
IPF is the old SOCET SET image point format (which can be imported directly into Orima). IPT is the new format in XPro.
Boolean 0 or 1
1
Smooth the imagery before matching. This is useful with SH40 data where there is a mix of PAN and GRN lines. The GRN lines tend to be noisier than the pan, so smoothing improves matching performance. Not needed for normal SH52 data.
Boolean 0 or 1
0
Option to try to match a single point at the pre-calculated line/sample position, or a clus-ter of 5 points at the line/sample position. The cluster will have 5 points equally distrib-uted with an area with the width of INLINE_INIT_MASTER_SEARCH_SIZE. Final matched points will likely move from their pre-calculated positions in order to find an appropriate interest point - or no match may result due to poor imagery.
APM_MODE FULL This is will always be set to FULL for running APM from within XPro. This tells the APM operation to find and transfer points. ELEV_MODE DEM This elevation mode is used to select the method which APM will use to set the terrain height seed point for finding points. Valid entries are DEM, or MANUAL. The DEM setting will force APM to use a USGS GTOPO30 DEM. The USGS GTOPO30 DEM is coarse, 30 arc second, grid of points with global coverage. These are freely downloadable and usable from: http://edc.usgs.gov/products/elevation/gtopo30/gtopo30.html MANUAL will force the APM to use elevations defined within this settings file.
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DEM_NAME Leica XPro intallation supplies a global JPTF DEM. gtopoDem_ell.jptf unifies all GTOPO30 dems into 1 file giving the global coverage. APM will use the default DEM specified in the XPro initialization file. Still, this value can be used to override and identify the full path of the JPTF dem file.
DEM_ACCURACY 100 This is a scalable value that allows you to set the perceived accuracy of the DEM. Since the GTOPO30 DEM is roughly 1 km spacing, not all regions on the surface of the earth can be represented very well. For instance, mountainous regions with many valleys and fast changing terrain will not be described very well with a coarse GTOPO30 DEM. This value allows the APM to expand the search along the epi-polar line for points. A larger DEM_ACCURACY value will open a longer search space along the epi-polar line to search for points. A larger value will also generate more samples for the APM to test, thus slowing down the overall APM process. For flat terrain this value can be set lower, but for mountainous regions, this might be set higher to aid in finding more points. PATTERN_SAMP_START 5 Across line start position of the first point to find, this value is given in percentage. PATTERN_SAMP_REPEAT 20 Across line repeat positions for each row of lines to find, this value is given in percentage. PATTERN_LINE_START 500 Along line start position of the first pixel to find, this value is given in pixels. PATTERN_LINE_REPEAT 500 Along line repeat distance to search for points until the end of the line. APM will automatically adjust this value internally if the value given is too large and thus not provide the required amount of points to form a strong photogrammetric solution. The strongest geometry for points is to have three columns of points between projection centers, if the value given here does not meet this criteria, the software will adjust this automatically. INLINE_INIT_MASTER_SEARCH_SIZE 100 This is the size of search area at the seed point around the epi-polar line, given in pixels. INLINE_TARG_TEMPLATE_SIZE 15 This is the seed size of the target template given in pixels.
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IPAS Pro
INLINE_L1_ELEV 1000 If the ELEV_MODE from above is set to MANUAL then this is the L1 rectification elevation used within the ADS APM to rectify the master and target patches. This value is given in meters. INLINE_MIN_ELEV 300 If the ELEV_MODE from above is set to MANUAL then this is minimum elevation used for the epi-polar search. This value is given in meters. INLINE_MAX_ELEV 1200 If the ELEV_MODE from above is set to MANUAL then this is maximum elevation used for the epi-polar search. This value is given in meters. INLINE_RMS_CUTOFF_PER_PIXEL 1.5 Represents gray value differences between template and slave on a pixel ratio. This value is unitless. INLINE_CORRELATION_CUTOFF 0.7 Cross-correlation threshold for inline matches. Values are unitless (0-1). INLINE_EXPECTED_PARALLAX 3 The a priori parallax error. This affects the search width and minification logic for the target area. Values are given in pixels. INLINE_PARALLAX_CUTOFF 5 Parallax threshold used for discarding points while finding points in the same strip. Values are in pixels. TRANSFER_CORRELATION_CUTOFF 0.7 Threshold correlation value to accept points during transfer. Values are unitless (0-1). TRANSFER_PARALLAX_CUTOFF 5 Parallax threshold used for discarding points during a transfer operation. Values are given in pixels. TRANSFER_TEMPLATE_SIZE 15 Size of the template used for transfer operation. Values are given in pixels.
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TRANSFER_INLINE 0 This option is used when adding bands to a strip and transferring points to these new bands without having to re-run the point finding operation on the entire strip. Setting value to 1 will allow the existing points to be transferred to newly added band in the same strip. Value of 0 is default and for the normal workflow. RECTIFY_SUBBLOCK_SIZE 8 The L1 subpatch to be rectified, unit is pixels. ALLOC_MAXSIZE 4000000 The largest allowable buffer memory allocation size to be created for reading image buffers, values is in bytes. INTEREST_WINDOW_SIZE 7 Interest operator window size, the value is in pixels. INTEREST_CIRCLE_CUTOFF 0.75 Interest operator "roundness" cutoff
APM Settings File Example
APM Setting file example: APM_SETTINGS ;; apm settings file April 2007 APM_MODE FULL ELEV_MODE DEM DEM_ACCURACY 50 PATTERN_SAMP_START
15
PATTERN_SAMP_REPEAT
35
;; PATTERN_SAMP_USER will override PATTERN_SAMP_START and PATTERN_SAMP_REPEAT PATTERN_SAMP_USER
10.0 35.0 55.0 90.0
PATTERN_LINE_START
500
PATTERN_LINE_REPEAT
1500
;; PATTERN_LINE_USER will override PATTER_LINE_START and PATTERN_LINE_REPEAT PATTERN_LINE_USER
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10.0 35.0 55.0 90.0
IPAS Pro
INLINE_INIT_MASTER_SEARCH_SIZE 100 INLINE_TARG_TEMPLATE_SIZE
15
INLINE_L1_ELEV
1000
INLINE_MIN_ELEV
900
INLINE_MAX_ELEV
1100
INLINE_RMS_CUTOFF_PER_PIXEL 1.5 INLINE_CORRELATION_CUTOFF
0.7
INLINE_EXPECTED_PARALLAX
4
INLINE_PARALLAX_CUTOFF
6
TRANSFER_CORRELATION_CUTOFF 0.7 TRANSFER_PARALLAX_CUTOFF
7
TRANSFER_TEMPLATE_SIZE
15
TRANSFER_INLINE
0
SUBPIXEL_SEARCH
1
RECTIFY_SUBBLOCK_SIZE
4
ALLOC_MAXSIZE INTEREST_WINDOW_SIZE
11
INTEREST_CIRCLE_CUTOFF
0.75
TP_FILE_FORMAT
User Manual
4000000
IPF
109
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Index Symbols *.GMB 22 *.GPS 22 *.IMU 22 *.TM 22
A Analyzing Data 35 APM file descriptions 101
B boresight angle 28
C Compare files 47 configuration processor 25 Configuration Options 11 Create A New Project 15
D difference file 47 Differences 47
E extract directory 19 Extracted file types 21 extracted files 19 extraction log 21
F File Converter 26
G Gimbal data plots 41 Gimbal Raw data 41 GPS antenna 27 GPS data plot 40 GPS Input Format 93, 95 GPS solution plot 42 GrafNav 24
I Import button 24
User Manual
IMU Data Extraction 18 IMU extraction log window 18 IMU File 22 IMU lever arm 28 IMU Raw data 38 Installation 3, 73 Introduction to IPAS CO 73 IPAS 51 IPAS CO camera file 92 IPAS CO+ 73 IPAS PPP Data Preparation 54 IPAS PPP Export ASCII solution 70 IPAS PPP Installation 53 IPAS PPP Processing 54 IPAS PPP Quality Check 63 IPAS Pro 17 IPAS10 1 IPAS20 1
L Latitude 93 Launching IPAS Pro 13 lever arm 27 License Configuration 73 log window 21 Longitude 93
M Make Differences 47 Misalignment Angle Calculation 74
N new project 15
O Open Project 13 Output File 96
P Plots 35 Point File Transform 91 Processed Data Plots 35 Processing Main Page 17 Processing Configuration 25 Processing Options 17
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Index
progress meter 20
R Raw Data 18, 37 raw data file location 19 file types 20 Raw Data Plots 37 Real-time Solution 42 Real-time Solution Plots 42 Result File button 36
S solution file compare 47 Start Processing 31 Step 70 System Requirements 3
T trajectory 36 trajectory plot 40 Transform Solution 89
U User time file 20
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