PERFORMANCE EVALUATION OF A LIGHT-WEIGHT MULTI-ECHO LIDAR FOR UNMANNED ROTORCRAFT APPLICATIONS
- Artificial Intelligence and Integrated Computer System Division Linköping University, 58183 Linköping, Sweden
Keywords: UAS, LiDAR, Sensor Fusion, Inertial Sensors, Photogrammetry
Abstract. The paper presents a light-weight and low-cost airborne terrain mapping system. The developed Airborne LiDAR Scanner (ALS) system consists of a high-precision GNSS receiver, an inertial measurement unit and a magnetic compass which are used to complement a LiDAR sensor in order to compute a digital surface model. Evaluation of the accuracy of the generated surface model is presented. Additionally, a comparison is provided between the surface model generated from the developed ALS system and a model generated using a commercial photogrammetric software. Finally, the multi-echo capability of the used LiDAR sensor is evaluated in areas covered with dense vegetation.
The ALS system and camera systems were mounted on-board an industrial unmanned helicopter of around 100 kilograms maximum take-off weight. Presented results are based on real flight-test data.