Light detection and ranging (lidar) mapping system

• US 20030036827A1
• Filed: 09/26/2001
• Published: 02/20/2003
• Est. Priority Date: 03/16/2000
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Kevin E. Murphy
• Inventors: Murphy, Kevin E.
• Granted Patent: US 6,711,475 B2
• Time in Patent Office: Days
• US Class Current: 701/3
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 21/3826 Terrain data
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G01C 21/3852 Data derived from aerial or satellite images
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

Abstract

The present invention is an rapid terrain visualization (RTV) flight management and planning system intended to assist operators of a LIDAR mapping system in planning and conducting aerial surveys. Its primary functions include flight management, survey planning, system control, coverage evaluation, and training. Flight planning capabilities are provided through a survey planner that allows a user to define mission parameters and automatically calculates LIDAR parameters and flight lines. A course deviation indicator (CDI) is provided to the pilot(s) to show both graphically and numerically their perpendicular distance from the current desired flight line. Real-time coverage tracking is provided through a plan progress window that provides a map of the survey area including flight lines. When the aircraft passes through a survey area while the LIDAR is activated, the resulting laser swath traced on the ground is drawn on a plan progress display.

Claims

1. A computer readable medium whose contents transform a computer system into an aerial survey system, comprising:

a survey planner subsystem for generating an aerial survey flight plan;

a flight management subsystem for monitoring and controlling a GPS data module, an inertial navigation module, and a LIDAR module;

a coverage evaluation subsystem for monitoring the progress of an aerial survey flight; and

a graphical user interface subsystem viewable on a system display, said graphical user interface subsystem for controlling said survey planner subsystem, said flight management subsystem, and said coverage evaluation subsystem.

2. The computer readable medium of claim 1 wherein said aerial survey flight plan is comprised of a survey area, a survey resolution, and a flight profile, said flight profile including a survey flight altitude, a survey flight velocity, an overlap value, and a turn time.

3. The computer readable medium of claim 2 wherein said survey planner subsystem can be used to alter said flight plan during a flight via said graphical user interface subsystem.

4. The computer readable medium of claim 2 wherein said coverage evaluation subsystem highlights successfully covered areas and unsuccessfully covered areas of a survey area on said system display in real-time.

5. The computer readable medium of claim 4 wherein said flight management subsystem can program a new flight line into the flight plan during a flight in order to cover areas that were previously unsuccessfully covered.

6. The computer readable medium of claim 1 further comprising a calibration flight planning subsystem for calibrating the LIDAR module.

7. The computer readable medium of claim 1 wherein said graphical user interface subsystem is a menu-driven windows based software program.

8. The computer readable medium of claim 7 wherein graphical user interface subsystem includes a primary control interface window comprised of:

a menu bar that is used to navigate among and select program options;

a control panel that is used to monitor system parameters; and

a navigation map that is used to view the current flight plan.

9. The computer readable medium of claim 8 wherein system parameters include GPS data, inertial navigation data, LIDAR control data, and flight plan data.

10. The computer readable medium of claim 9 wherein one of the selectable program options includes a flight plan load option that can load a flight plan, calculate and display a set of flight lines on said navigation map and configure said LIDAR module according to the flight plan.

11. The computer readable medium of claim 7 wherein said graphical user interface subsystem includes a plan progress display window that is used to highlight successfully covered areas and unsuccessfully covered areas of a survey area on said system display in real-time.

12. The computer readable medium of claim 7 wherein said graphical user interface subsystem can control an aircraft cockpit display, said aircraft cockpit display for showing, with respect to a flight plan, course deviation data to a pilot during a flight.

13. A computer system for planning and conducting an aerial survey, comprising:

an aircraft mountable rapid terrain visualization module comprised of inertial navigation measuring equipment for measuring aircraft flight data, GPS data equipment for measuring aircraft position data, and LIDAR equipment for tracing a laser swath over a specified area of terrain in order to obtain geographical information for said specified area;

a computer operably connectable with said aircraft mountable rapid terrain visualization module such that said computer receives data from said rapid terrain visualization module.

14. The computer system of claim 13 wherein said computer is further operably connectable with a display such that data received from said rapid terrain visualization module can be viewed on said display.

15. The computer system of claim 14 wherein said computer is further operably connectable with data storage means such that data received from said rapid terrain visualization module can be stored in said data storage means for subsequent analysis and post processing.

16. The computer system of claim 15 wherein said computer can be disconnected from said rapid terrain visualization module once data from said rapid terrain visualization module has been received and stored.

17. The computer system of claim 16 wherein said computer is used to generate a flight plan for surveying a desired area.

18. The computer system of claim 17 wherein said computer need not be connected to said rapid terrain visualization module in order to generate said flight plan.

19. The computer system of claim 18 wherein said flight plan is comprised of a survey area, a survey resolution, and a flight profile, said flight profile including a survey flight altitude, a survey flight velocity, an overlap value, and a turn time.

20. The computer system of claim 19 wherein said flight plan is stored in said data storage means.

21. The computer system of claim 20 wherein said computer is running a windows based menu-driven graphical user interface.

22. The computer system of claim 21 wherein said graphical user interface includes a primary control interface window comprised of:

a menu bar that is used to navigate among and select program options;

a control panel that is used to monitor system parameters; and

a navigation map that is used to view the current flight plan.

23. The computer system of claim 22 wherein system parameters include GPS data, inertial navigation data, LIDAR control data, and flight plan data.

24. The computer system of claim 21 wherein said computer can switch said LIDAR equipment on and off via said graphical user interface.

25. The computer system of claim 21 wherein said computer is operably connectable with an aircraft cockpit display, said aircraft cockpit display for showing, with respect to a flight plan, course deviation data to a pilot during a flight.

26. The computer system of claim 25 wherein said aircraft cockpit display is controllable via said graphical user interface.

27. The computer system of claim 21 wherein said graphical user interface can launch a plan progress display window that is used to highlight successfully covered areas and unsuccessfully covered areas of a survey area on said system display in real-time during a flight.

28. The computer system of claim 27 wherein said computer can alter said flight plan during a flight via said graphical user interface in response to unsuccessfully covered areas highlighted on said plan progress display.

29. A computer system for planning an aerial survey that is comprised of a computer running a windows based menu-driven graphical user interface responsive to operator input that is used to generate a flight plan for surveying a designated area, wherein said flight plan is comprised of a survey area, a survey resolution, and a flight profile, said flight profile including a survey flight altitude, a survey flight velocity, an overlap value, and a turn time, said computer system also comprising data storage means for storing said flight plan.

30. The computer system of claim 29 wherein said data storage means is removable from said computer system and operable with other computer systems.

31. The computer system of claim 29 wherein said data storage means is a removable compact disk that can store a flight plan and can transfer said flight plan to another computer system.

32. The computer system of claim 29 wherein said data storage means is a removable floppy disk that can store a flight plan and can transfer said flight plan to another computer system.

33. The computer system of claim 29 wherein said data storage means is a removable zip disk that can store a flight plan and can transfer said flight plan to another computer system.

34. The computer system of claim 29 wherein said flight plan can be transferred to another computer system via a network connection.