wiki:Processing/LeverArmOffset

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Version 32 (modified by knpa, 12 years ago) (diff)
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Lever arm offset details

This page gives details of how the lever arm offset is calculated.

All nav is transformed back to the master antenna on the rear of the cabin roof, and then aznav transforms nav from there to each sensor as required when the individual sensor data is processed. AT4 nav is already wrt this antenna, and the IMU data is transformed back to the antenna during Applanix processing.

The distance is from the phase centre of the master (rear) antenna to each sensor's "prime" point; so for the ATM it is the scan mirror centre, for the Eagle, Hawk and CASI ideally the focus point of the lens.

The angles (as used in aznav) are: gamma is the positive angle from the vertical through the antenna to the sensor prime point and delta is positive to starboard from the centre line direction of the aircraft.

Initially it is necessary to make sure you have the correct sensor prime point coords as observed.

Then aznav sorts out what axis system has been used by the surveyors and swaps the coordinates around until it gets it in the NASA Standard Aircraft system [ Y+ port, X+ tail to nose, Z+ up ]. Then do the angle calcs.

2012

Aircraft was surveyed by Sterling Surveys in July 2012

Full report and images and various workings out are at ~arsf/arsf_data/2012/misc/dornier_survey/

LiDAR

LiDAR lever arm values: These values should be entered into IPAS

	X	Y	Z
GNSS	-0.127	-0.012	-1.677
IMU	-0.409	0.207	-0.174

These values are all from the PAV80 and are X positive to nose, Y positive to starboard, Z positive down.

These values are not adjusted for the phase centre of the antenna.

2011

Aircraft was surveyed by Sterling Surveys in March 2011.

LiDAR

The LiDAR measurements are made from the antenna to a reference point, then transformed from that reference point to an internal point (PAV 80). The reference point is the front left corner of the LIDAR sensor unit casing.

Measured antenna to reference point numbers:

X = 0.173 ; Y = 0.073 ; Z = -1.412

LiDAR lever arm values are:

	X	Y	Z
GNSS	-0.144	-0.029	-1.672
IMU	-0.411	0.206	-0.192
User Frame	-0.142	-0.001	-0.188

Hyperspectral sensors

The hyperspectral measurements are made from the antenna to a reference point, then transformed from that reference point to the Eagle/Hawk lens. The reference point is the forward port corner of the Eagle/Hawk base plate.

Measured antenna to reference point numbers:

X = 0.864 ; Y = 0.300 ; Z = 1.569

Eagle and Hawk lever arm values are:

	X	Y	Z
Eagle	0.559	-0.015	-1.543
Hawk	0.729	-0.015	-1.543

2010

Where unspecified, the measurements are as in the previous year.

LIDAR

Internal measurements provided by Leica:

PAV80 rotation point to RCD lens (no spacer): X= 0.112 ; Y = 0.061 ; Z = -0.060

Axes are:

X = increasing towards the front of the plane
Y = increasing to port
Z = increasing downwards

Note that to get to PAV80 from reference point we apply: X = -0.14 ; Y = 0 ; Z = -0.17 (see email March 2010 from Leica)

Hyperspectral sensors

We're told these are the same as end of 2008. Note: These are xyz co-ords, not gam-del-dst

	X	Y	Z
Eagle	0.408	0.001	-1.548
Hawk	0.578	0.001	-1.548

2009

Hyperspectral sensors

We're told these are the same as end of 2008. Note: These are xyz co-ords, not gam-del-dst

	X	Y	Z
Eagle	0.408	0.001	-1.548
Hawk	0.578	0.001	-1.548

TABI

Measured by ARSF-Ops relative to Hawk (numbers converted below to relative to the GPS antenna), not surveyed. Should be accurate enough though.

X	Y	Z
0.858	0.001	-1.548

Applanix IMU

Use 2006/7 numbers?

Leica LIDAR + IMU

The LIDAR survey measurements are made from the antenna to a reference point, then transformed from that reference point to internal points (the IMU and mirror center). The reference point is the front left corner of the LIDAR sensor unit casing. Survey was in late 2008.

Measured antenna to reference point numbers:

X = 0.010 ; Y = 0.078 ; Z = -1.432

Internal measurements provided by Leica:

reference point to mirror center: X = 0.169 ; Y = 0.102 ; Z = 0.090
reference point to IMU: X = -0.269 ; Y = 0.207 ; Z = -0.004
laser mirror centre to RCD lens (no spacer): X= 0.239 ; Y = 0.062 ; Z = -0.060

Axes are:

X = increasing towards the front of the plane
Y = increasing to port
Z = increasing upwards

2008

18th Dec. 2008: Due to confusion about angle directions, the originally computed gamma angles are incorrect. The error caused should be of similar magnitude to the previous, similar error (ie ~1.5m along-track for ATM, other sensors will have a smaller error). Because the error will be partially compensated for by boresight angles depending on flight altitude, the "wrong" numbers should be used anyway unless you re-calculate the boresight angles.

Jan 2008 numbers (Wrong but use anyway, or we have to redo boresights):

	Gam	Del	Dst
ATM	1.2258	0.0051	1.7380
Eagle	1.0748	-0.0036	1.7441
Hawk	0.9705	-0.0049	1.7985

Jan 2008 numbers (Corrected for reference but use "wrong" numbers above, unless you've redone boresights):

	Gam	Del	Dst
ATM	0.3450	0.0051	1.7380
Eagle	0.4960	-0.0036	1.7441
Hawk	0.6003	-0.0049	1.7985

VOCALS

Use these numbers for VOCALS flights from autumn 2008. Note: These are xyz co-ords, not gam-del-dst (ie use -acx, not -acv)

	X	Y	Z
Eagle	0.2302	0.001	-1.548
Hawk	0.4002	0.001	-1.548

Applanix IMU

Use 2006/7 numbers?

Leica LIDAR + IMU

Measured antenna to reference point numbers:

X = 0.010 ; Y = 0.078 ; Z = -1.522

Internal measurements provided by Leica:

reference point to mirror center: X = 0.169 ; Y = 0.102 ; Z = 0.090
reference point to IMU: X = -0.269 ; Y = 0.207 ; Z = -0.004

Axes are:

X = increasing towards the front of the plane
Y = increasing to port
Z = increasing upwards

2007

Use 2006 numbers..

2006

Obs and results as follows:

v:200601 may 2006

2006 D-CALM instrument coords  from SJR 9th May
------------------------------------------------------------------------------------------

        z       x        y       Z offset  X offset  Y offset   dst      gam      del

ATM    8.991  96.9065  99.9881  -1.68    0.4565   -0.0029      1.741  0.2655  0.006353
CASI   9.156  97.22509 99.98485 -1.515   0.775092 -0.00615     1.702  0.4732  0.007934
Eagle  9.143  97.7307  99.99    -1.528   1.2807   -0.001       1.994  0.6977  0.000781
Hawk   9.143  97.9155  99.99    -1.528   1.4655   -0.001       2.117  0.7644  0.000682
IMU    9.182  97.5181  99.8089  -1.489   1.0681   -0.1821      1.841  0.6287  0.1689

560                             -1.476   1.4831   -0.0061      2.092  0.8264  0.004113

Pant  10.945 100.001   95.095    0.274   3.551    -4.815
Sant  10.906 100.000  104.91     0.235   3.550     5.000
Fant  10.843 101.661   99.989    0.172   5.211     0.079

------------------------------------------------------------------------------------------
Aant   10.671 96.450  99.991     0.0     0.0       0.0

------------------------------------------------------------------------------------------

Axes:  Y+ port,  X+ tail to nose, Z+ up
Antennas:  name, postion, AT4 name, survey name
Aant = aft  = master  = GPS4

Fant = fore = slave_1 = GPS3
Pant = port = slave_2 = GPS1
Sant = starboard = slave_3 = GPS2
--------------
Sensor offset vector paras allowing for this coordinate system

dx == X offset, dy = Y offset, dz = Z offset

dst = sqrt( dx * dx + dy + dy + dz + dz ) 

gam = acos( abs(dz) / dst )

del = atan( dy / (-dx) )

Units:  dst: metres,  gam, del: radians

-----------------
Verification test

p = r = h = 0
ant1:  lat: 52.0 lng: -3 hgt: 1000

IMU is at:  lat: 52.00000959  lng: -2.99999734  hgt: 998.511013

==========================================================================================

Applanix IMU Lever arm offsets

Year	X	Y	Z
2006	1.068	0.182	1.489
2007	Use 2006 :S	Use 2006 :S	Use 2006 :S

N.B. Some of the 2006, 2007 data has a preset IMU lever arm offset of 0.907, 0.190, 1.783 - not sure where this comes from, perhaps coords noted on the plane? Dave Davis has said to use the 1.068, 0.182, 1.489 offsets.

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