9. System integration

9.1. Supported sensors

IMU

• Applanix POSAV

• Applanix AP+

• all GNSS sending NMEA

• iXBlue AIRINS / ATLANS

Imaging sensors

• ITRES

• Nasa CWIS-II DCS

• Phase One

• Simplex

• UltraCam

LiDAR

• Riegl

Integrated systems

• TOPOFLIGHT universal protocol

Sensor mount platforms

• SOMAG Version 1

• SOMAG Version 2

• Aerostab3

• SteadyTrack

9.2. Setting up a list of SensorHandler integrated sensors

This chapter is intended for the system integrator only.

9.2.1. The SensorHandler sensor list

Each button on the left of the SensorHandler panel represents a device being used. Right click on a button to add or remove a device from the list of devices.

SensorHandler will communicate with Applanix to receive position information and to control the SOMAG platform and, optionally, to take an image. SensorHandler will communicate to RiAcquire to start and stop scanning In the settings the following information is stored: location of the log files location of the settings files Definition of COM ports (not needed in Riegl configuration) Definition of Ethernet ports used

9.2.2. SensorHandler Ethernet settings

In the Ethernet settings dialog, set the IP address and port of each of the devices:

9.3. Setting up a PhaseOne camera

By default, PhaseOne and iXCapture both run on the same computer (usually on an iXController). The operator thus can see the images taken (with iXCapture) while also seeing the navigation window of the flight. This default installation implicates that SensorHandler runs on the same machine.

Some special installations are required to run iXCapture on a different machine than that of the navigation program. In this case, NAVIGATOR and SensorHandler run on one machine and iXCapture on another.

Adding PhaseOne to SensorHandler:

The PhaseOne handler needs to be visible in the sensor list. Right-click on a free button and select PhaseOne sensor to populate the free button:

Configuring the Ethernet settings:

Set the IP to the local address 127.0.0.1 and the port to 9569. This allows SensorHandler and iXCapture to exchange information on the images taken and on correct file names including the line and the image number.

Settings in the Phase One dialog:

1. Click on the PhaseOne button in SensorHandler’s main list of connected sensors to open the dialog box. Normally, this dialog does not need to be opened. However, it is useful for verifying correct system behavior.
   
   The symbol is colored green as soon as the camera is connected correctly and running. It sends the system ready message to SensorHandler. The symbol is colored red when there is no connection to the camera.

   The instant the camera takes an image, the red box around the lens changes to green for 0.4 seconds. Then it turns back to red.

   Click this button to ask if the system is ready. It shows system ready on the bar at the bottom of the dialog.

   In the default setting, an image will be released the instance the airplane passes the position where the image is to be taken. Optionally, images can be released at regular time intervals between the start and end of the line of flight (no images will be taken if the airplane is outside of the line of flight).

   This button can be pressed to manually release an image. This is often used to verify that the system is working correctly or to define the correct values for aperture and exposure time.

   Click on this button for more settings.

   
   
2. Use standard communication with iXCapture This is the default option. It is used in standard installations where NAVIGATOR, SensorHandler and iXCapture are installed on the same machine.

   Use TCP/IP bridge to remote iXCapture This option is selected when NAVIGATOR/SensorHandler are installed on a different computer than iXCapture. In this case, use the IP address of the remote computer on which IXCapture and iXBridge are running.
   

9.4. Setting up a universal camera

By using an external trigger cable it is possible to control any kind of camera.

Requirements:

• external trigger cable (camera specific)

• optional: hot shoe adapter (incl. cable)

• the cables are connected to the flight computer via COM port

Configuring a universal camera:

1. Open the camera dialog window.

   

2. Click on Settings.

3. Adjust the parameters according to your setup.

   • Trigger signal:

     • RTS or DTR

     • high or low

   • Camera Reply (via hot shoe adapter)

     • RTS or DTR

     • high or low

   

9.5. Setting up Riegl RiAcquire

Adding Riegel RiAcquire to SensorHandler:

The Riegl RiAcquire handler needs to be visible in the sensor list. Right-click on a free button and select LiDAR Riegl RiAcquire to populate the free button:

Configuring the Ethernet settings:

Set the IP to the address 192.168.0.138 and the port to 20005. This allows SensorHandler and Riegel RiAcquire to exchange information.

Settings in the Riegl RiAcquire dialog:

Automatic mode: This mode stops scanning at the end of a line of flight by setting the scanner to initialized mode. It starts scanning again at the beginning of the line the scanner is set to logging mode. Semi-automatic mode: this mode switches between working and logging only. This option is recommended for the newest Riegl scanners and the following scanners: VQ-1560II, CVQ-1560I, LMS-Q1560, VQ-780i, VQ-780II, LMS-Q780 (all 1560 and 780 models). Manual mode: In this mode the scanner won’t stop logging at the end of the line. In fact, it continuously keeps scanning after the first start of logging on the first line. It can be started and stopped manually with RiAcquire.

If the airplane leaves the defined corridor the scanner will normally stop scanning by changing from logging to working mode. If the option if outside corridor do not stop scanning is set, then the scanner will keep scanning even outside of the corridor. If the option outside corridor do not stop taking images is set the images will be taken even if the airplane is outside of the horizontal tolerance (corridor).

Advanced settings in RiAcquire:

	Get devices from Riegl can be selected as soon as the scanner has been connected. Both lists (scanners and cameras) will automatically be filled with the existing scanners and cameras. A Q1560 scanner typically has two scanners and one camera. By default, the scanner(s) and camera(s) are switched on, meaning that TOPOFLIGHT controls the devices.
	Automatic connection and disconnection set the time limits of when the scanner switches to working mode before the start of the line when to change to working-logging mode before the start of the line when to change to initialized mode after the end of the flight line Make sure to switch off Release camera using RiAcquire
	To change any of the values above, the lock has to be opened. Click on the black lock symbol and use the password: riegl

The sketch below illustrates two methods for triggering the camera to capture an image.

In the standard method (A), the image capture settings are configured in the SensorHandler RiAcquire menu. These settings are then transferred to RiAcquire, which communicates directly with the camera to trigger the image.

In the alternative method (B), the settings are configured in the SensorHandler POSAV menu. These settings are passed to the IMU, which in turn communicates with the camera to trigger the image.

Standard image takings method (A) using RiAcquire:

SensorHandler takes images through RiAcquire and not through Applanix POSAV:

	The picture shows the default settings in the RiAcquire dialog. If the release camera is enabled SensorHandler will release the camera using RiAcquire.
	In the Applanix dialog, disable the option to take images through Applanix.
	In RiAcquire, set trigger mode to Manual Remote Control.

Alternative image takings method (B) using Applanix POSAV:

SensorHandler takes images through Applanix POSAV and not through RiAcquire:

	If the release camera is disabled SensorHandler will NOT release the camera using RiAcquire.
	In the Applanix dialog, enable the option to take images through Applanix. This means that SensorHandler will take images using Applanix POS commands.
	In RiAcquire, set trigger mode to External High.

9.6. Setting up Applanix AP+

Important

Configure the GSOF as described in the chapter Setting up Applanix in AVX210.

SensorHandler needs two ports to communicate with Applanix AP+:

• TCP/IP to get navigation data (it is usually defined as port 28001)

• TCP/IP to get event information (it is usually defined as port 28002)

9.6.1. Definition in web interface of Applanix AP+

Ports 28001 and 28002 are used. These are the default ports but other port numbers can also be used.

Definitions for navigation data (port 28001):

Definitions for event (port 28002):

9.6.2. Settings in SensorHandler

Adding Applanix AP+ to SensorHandler:

The Applanix AP+ handler needs to be visible in the sensor list. Right-click on a free button and select Applanix AP+ to populate the free button:

Configuring the Ethernet settings:

Enter the IP address of AP+. In this example it is 10.8.121.90. Then set the port for receiving the navigation data. This allows SensorHandler and Applanix AP+ to exchange information.

Integrating Applanix AP+ in SensorHandler:

1. Click on the Applanix AP+ button:

   

2. Tick the option to trigger images if Applanix is to trigger the images and enter the port number through which the event numbers will be received.

   

3. Set the option Mount is controlled by Applanix if the mount is connected to Applanix AP+. In this case, do NOT define a special mount button in SensorHandler:

   

Important

Note for conducting Riegl scanners

If the images will be released through the RiAcquire interface, then do NOT enable the Trigger images option:

Enable it in the RiAcquire dialog instead:

9.6.3. Remarks for controlling a gyro mount

If the system is leveled using a mount, the corresponding option must be set.

The figure shows that the mount is switched to STAB mode 30 seconds before the start of the line.

Important

The mount will only switch to STAB mode (unfreeze) when the aircraft is inside the corridor.

The green box signifies that the mount is in MAN mode (freeze). The aircraft is outside the corridor, so the two buttons (set manually ON, set manually OFF) can be activated.

The green box signifies that the mount is in STAB mode (unfreeze). The aircraft is inside the corridor. Therefore, the two buttons (Set manually ON, set manually OFF) cannot be activated.

A prompt indication of whether the mount is in stabilization mode is provided through the icon displayed in the main window of the NAVIGATOR program, see Status of MNT - SOMAG Mount.

9.7. Setting up Applanix POSAV

Adding Applanix POSAV to SensorHandler:

The Applanix POSAV handler needs to be visible in the sensor list. Right-click on a free button and select Applanix POS AV to populate the free button:

Configuring the Ethernet settings:

Set the IP to the address 192.168.0.124 and the port to 5600. This allows SensorHandler and Applanix POSAV to exchange information.

Settings in the Applanix dialog:

	Set the Display Port, TCP Control Port, TCP Real Time Port Ports 5605 and 5606 can only be used if the Applanix FMS option is installed
	Use GPS and IMU Data for navigation. Position, speed and altitude will be read and sent to TOPOFLIGHT NAVIGATOR. For special applications, the other options can be selected.
	Switch this option to ON if you need to release images through Applanix. For UltraCam and Riegl scanners these options are usually not activated.
	If ON, the mount will be controlled through Applanix. Default: ON. Follow mean track: the mount will be steered to match the ground track. Follow desired heading: the mount will be steered on the planned angle of the flight line.
	Switching ON this option will correct the received GPS ellipsoidal altitudes to get orthometric heights (heights on the geoid). Default: ON.

9.7.1. Settings in Applanix POSView program

The Applanix program POSView controls the IMU settings. Make sure the following settings are made in POSView Ethernet Real-Time Port 2:

Enable the following groups:

• 1: Navigation solution

• 3: Primary GNSS Data

• 5: Event 1

• 200: Gimbal Encoder Data

• 203: Gimbal Yaw Drift Correction Data

• 222: Reference frame Navigation solution, only if you use direct control of the mount with the special handler for somag mount V2 (by default group 222 is not activated).

  

Store the settings in PosView:

9.8. Setting up Applanix in AVX210

Adding Applanix GSOF to SensorHandler:

GSOF is deprecated and only backwards compatible. Therefore, it no longer can not be selected in the SensorHandler sensor list.

Configuring the Ethernet settings:

Set the IP to the address 192.168.53.100 and the port to 5017. This allows SensorHandler and Applanix AVX210 to exchange information.

Settings for GSOF in SensorHandler:

1. Open the GSOF dialog by clicking on the IMU Applanix GSOF button in SensorHandler.

2. Then click the Settings button.

   

3. Adjust the settings:

   

   In the standard case navigation data from this IMU is used for navigation. So, for default settings, select the first option.

   The port 5018 is the default port through which the event ID arrives as soon as an image has been taken. The event id is recorded in the log files and submitted to iXCapture to tag the file names correctly.

   The EGM96 option is switched on, by default. This means that the altitudes are referenced to the EGM96 geoid. If this option is switched off, displayed altitudes will be referenced to the WGS84 ellipsoid.

9.8.1. Settings for GSOF in AVX210

The following GSOF messages need to be transmitted:

The following NMEA message needs to be transmitted:

Hint

Background information: NMEA altitudes are referenced to the EGM96 geoid. Most often, the planned altitudes for the lines of flight are also referenced to the EGM96. GSOF Message 9, however, is referenced to the WGS84 ellipsoid. In most cases, the flight has to be done on EGM96 altitudes. Therefore, NMEA GGA needs to know the difference between EGM96 and WGS84 altitudes.

9.9. Setting up Novatel using NMEA

Configuring Novatel using the Novatel APP:

SensorHandler requires one port to communicate with Novatel. The most convenient way to define an Ethernet log is through the Novatel App.

1. Define a new log (device) in the Novatel App.

2. It is recommended to use the terminal of the application for setting up the parameters used by NAVIGATOR. Alternatively, you can use an external terminal to manually set logs. This option has the advantage that the logs can be kept in a script, allowing you to send it over the terminal in text mode, with each log entry on a separate line ending with an end of line character.

3. Synchronize the PhaseOne image line and image ID with the image names by logging MARKTIME sentences:

   MARKTIME ICOM1 0 66.5 FINESTEERING 2137 131289.096 02004000 292e1599017.999999999 VALID

   This allows SensorHandler and iXCapture to synchronize the event id, line id and image id. The image file name then can also contain the line and image id.

4. Any port of the Novatel device can be used. Here is an example using ICOM5 (Ethernet port 3005):

   Enter each of the following lines one after the other into the terminal of the Novatel App.

   Unlogall ICOM5 TRUE

   log ICOM5 gpgga ontime 0.1 HOLD

   log ICOM5 gpvtg ontime 0.1 HOLD

   log ICOM5 pashr ontime 0.5 HOLD

   log ICOM5 mark1timea onnew HOLD

The integration into SensorHandler follows the same approach as outlined here for NMEA.

The Novatel Ethernet and port settings may appear as shown in this example (192.168.53.100 and 3005):

9.10. Setting up NMEA

Any device capable of sending NMEA sentences is compatible with NAVIGATOR. For navigation, only the following sentences are needed:

• GPGGA

• GPVTG

9.10.1. Settings up NMEA GPS in SensorHandler

Defining the button to connect to GPS NMEA:

1. In the main sensor list, right click on the button where you want to place the GPS NMEA connection.

   

2. Select GPS / NMEA Serial or UDP.

3. The button is now connected with GPS NMEA.

   

Hint

Remember to define the port (COM or TCP) through which the device can be reached.

9.10.2. Settings for NMEA in SensorHandler for TCP/IP or UDP

Adding NMEA to SensorHandler:

The NMEA handler needs to be visible in the sensor list. Right-click on a free button and select GPS NMEA to populate the free button:

Configuring the Ethernet settings:

Enter the IP address of NMEA. In this example it is 192.168.53.100. Then set the port for receiving the navigation data (port 5018 in this example). This allows SensorHandler and NMEA to exchange information.

NMEA settings in SensorHandler for TCP/IP or UDP:

1. Open the NMEA dialog by clicking on the GPS NMEA serial or UDP button in SensorHandler.

2. Then click Settings button.

   
3. By default, navigation data enters via TCP/IP. In this case, select the first option.

   If data enters via UDP, then select the second option.

   If data enters through a serial port, then the settings will be disregarded by the software.
   

   The standard case is that navigation data from this IMU is used for navigation. So, by default, select the first option.

9.10.3. Settings for NMEA in AVX210

If NMEA is the protocol, then use the settings shown below:

9.11. Using the SOMAG mount handler

9.11.1. The two main configurations

Important

To control the SOMAG mount this question must be answered: which device controls the mount?

Is it a) the Flight Management system or b) the INSS?

If using POS AV, then a) and b) can both be applied.

If using Novatel, then only a) is possible.

1 POS AV or any other INSS sends position data to the FMS. This is usually done by Ethernet but it can also be done by serial communication.		1 POS AV sends position data to the FMS. The FMS sends freeze / unfreeze to POS AV
2 The FMS is connected to the mount by a serial port. The FMS does the whole control of the mount: Changing to STAB and MAN before and after the line Sending pitch, roll and yaw corrections to the mount Reading the mount angles		2 POS AV is connected to the mount. POS AV fully controls the mount: Changing to STAB and MAN before and after the line Sending pitch, roll and yaw corrections to the mount Reading the mount angles
No mount angles are logged.		The mount angles can be logged on POS AV.

Configuration 1: Settings for the mount controlled by FMS

1. One of the buttons needs to be populated with the INSS being used (select one of those):

   

2. In SensorHandler, select the SOMAG_V2 on one of the buttons:

   

3. In SensorHandler, click on COM ports to define the com port the mount is connected to:

   

4. In the list, select the SOMAG_V2.

5. Then select the com port and baud 4 by clicking the button on the left.

   

6. Set Baud rate to 115’200

Configuration 2: Settings for the mount controlled by POS AV

1. Since the mount is controlled by POS AV, only the POS AV is required on a button (no SOMAG driver has to be selected):

   

2. In SensorHandler, click on the Ethernet button:

   

3. In one of the lists, select Applanix POS AV. Set the IP Address and display port:

   

4. Click on the Applanix POS AV button

   

   and then on the Settings button

   

5. Enter the following settings:

   

9.11.2. Basic modes of operation

This handler is used to control all the gyro mounts of the SOMAG AG Jena, running Protocol Version 2.0 .

In standard mode, the mount will be set to STAB mode before the line of flight starts and will be set to MAN mode after the line has been finished or when the line is left. The following angles need to be known to drive the mount accurately to the needed position:

• pitch, roll, heading angles coming from the IMU

• ground track heading coming from the GPS

• actual yaw angle of the mount

• the desired heading angle the mount should to be driven to. This heading angle can either be the heading of the planned line of flight or of the ground track.

For special cases (like testing the mount), the automatic control of the mount can be switched off:

After switching off the automatic mode, the mount won’t switch between MAN and STAB mode automatically. This mode is mostly used for testing system components like communication and behavior of the mount.

9.11.3. Pre-flight settings

	By default, heading corrections are switched ON. This means that the IMU yaw angle will be corrected in accordance with the received IMU angles. SensorHandler requires the actual yaw of the gimbal in order to calculate the amount of correction for accurate yaw positioning of the mount. Here, you set the time intervals in which actual gimbal angles are sent to SensorHandler. Normally, a value of 100 milliseconds is used. Select the method for heading correction: Heading correction in STAB mode: this is the default. The mount is set to STAB mode at the start of the line and to MAN mode after having left the line. Heading correction in MAN mode: in this mode, the mount’s heading correction is carried out only by SensorHandler. No correction will be performed by the mount. This mode can be useful for ground tracks with short and intense changes in the heading (e.g. flying along a river or road by helicopter). Set drift to Planned Heading: this is the default. TOPOFLIGHT NAVIGATOR sends the line’s heading to SensorHandler. SensorHandler then sends small corrections to the mount to accurately align it with the line’s heading. Set drift to Ground Track: the yaw angle of the mount will be directed towards the ground track. The following sketch illustrates the distinction between the modes Set Drift to Ground Track (on the left) and Set Drift to Planned Heading (right):
	The default position is switched ON. This means that roll and pitch angles coming from the IMU are used to increase the accuracy of the mount’s stabilization process during flight.
	In the edit fields, you define how many seconds before the start of the line of flight the mount will go into STAB mode and how many seconds after the end of the line of flight the mount will switch back to MAN mode.

9.11.4. Automatic transition between STAB and MAN mode

	While on the line of flight the mount is automatically set to STAB mode
	After having left the line of flight the mount is automatically switched back to MAN mode

9.11.5. Manual transition between STAB and MAN mode

	switches back to automatic mode
	sets the STAB mode for all axes (roll, pitch, yaw)
	STAB mode is switched off and MAN mode is activated
	When the FMS control is switched OFF the mount can only be manually driven with using the SOMAG app. In this case, no commands from SensorHandler will be received. When the FMS control is switched ON the mount is driven only by SensorHandler. No commands from the SOMAG app will be received.

9.11.6. For system integrators: COM port settings

The SOMAG mount and SensorHandler communicate through serial communication, requiring accurate configuration of the corresponding COM port settings.

COM port configuration:

1. Right click on a free button and add Platform SOMAG_V2 to the sensor list.

2. Click on COM ports button:

   

3. In the COM ports dialog select a combo box and the SOMAG_V2 driver.

4. Select the correct COM port.

   

5. These are the correct settings:

   

Tip for system Integrators

Important

Read the section below on how to verify the proper functionality of SensorHandler in conjunction with the SOMAG mount!

Often, when integrating a system, you have the mount on the table but do not yet have an IMU available. Switch the mount without a connected IMU to STAB mode. You will notice that the mount moves slightly to the end stops (it does not really stabilize). But you can check if SensorHandler and mount behave correctly.

You can perform this system check by forcing SensorHandler to send the mount gimbal angles back to the mount as simulated IMU values. Then the mount will be stabilized on the table. Do the following:

Verifying proper functionality of SensorHandler and SOMAG mount:

1. In SensorHandler click Settings / Advanced Options.

   

2. On the top some tabs appear:

   

3. Select the tab Test2.

   

4. Enable the option to send the gimbal values back to the gimbal as IMU values.

   

5. Fly a line in simulation mode. The mount should be stabilized now, confirming the accurate communication between the mount and SensorHandler.

9.12. Setting up ITRES sensor handling

Adding ITRES to SensorHandler:

The ITRES handler needs to be visible in the sensor list. Right-click on a free button and select ITRES to populate the free button:

Configuring the Ethernet settings:

Set the IP to the address 192.168.0.138 and the port to 1234. This allows SensorHandler and ITRES to exchange information.

Settings in the ITRES sensor dialog:

1. In ITRES window click on the Settings button.

   

2. Define the following values:

   • how many seconds before the line of flight the sensor starts

   • how many seconds after the line of flight the sensor stops.

   
3. Starting ITRES sensor for production

   At system start up click on the red button on the right side. After successfully connecting, all lights turn green.
   

9.13. Setting up TOPOFLIGHT universal sensor handling

Hint

Go to the chapter TOPOFLIGHT universal protocol for a detailed description of the socket usage, the TCP message structure, the states and state switches as well as the usage of the TOPOFLIGHT universal protocol.

	As the airplane is aligned to the flight line and passed the defined time, an Acquire dark frame command is sent to the system.
	As the airplane passes this time marker, NAVIGATOR will be informed that the airplane approaches the first point. This command is not used right now.
	As the airplane passes this time marker, the start logging command will be sent to the system.
	As the airplane passes this time marker, an Acquire dark frame command will be sent to the system followed by a stop logging command.
	When the airplane leaves the corridor (before it reached the end of the line) and does not enter within the defined time then a stop logging command will be sent to the system.