9. System integration

This chapter provides an overview of the systems that can be integrated into NAVIGATOR, along with their respective settings.

Hint

Specific use cases are presented at the end of the chapter.

9.1. SensorHandler setup

9.1.1. Supported sensors

IMU

• Applanix POS AV

• Applanix AP+

• all GNSS sending NMEA

• iXBlue AIRINS / ATLANS

Cameras

• Vexel UltraCam

• ITRES

• Phase One

• Sybsec

• HySpex

• Nikon

• Canon

• IGN Camera

• InfraTec VarioCam HiRes 640

• CWIS-II DCS

• Simplex

LiDAR

• Riegl

Sensor mount platforms

• SOMAG

• GSM3000

• AeroStab3

• PAV80

• SteadyTrack

General purpose sensor handling

• TOPOFLIGHT universal protocol

9.1.2. Setting up integrated sensors

This chapter is primarily intended for system integrators.

9.1.2.1. Setting up 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.

1 Populated button: in this example SensorHandler will use NMEA to communicate with the IMU. 2 Empty button: right-click on it and select a sensor from the list to populate that button 3 In the settings the following information is stored: location of the log files location of the settings files handler names and versions 4 Click the COM ports button, select a sensor and define the COM port requried for your configuration. 5 Click the Ethernet button, select a sensor from the drop-down menu and define the ports requried for your sensor configuration.

9.1.2.2. Examples of COM port and Ethernet definitions

COM ports

Port	Used by sensor(s)	Settings
COM3	SOMAG V2	COM3 8N1 115200

Ethernet

Sensor	IP	Port
NMEA	192.168.53.100	5018
Phase One	127.0.0.1	9569
Riegl RiACQUIRE	192.168.0.138	20005

9.2. Setting up IMUs

9.2.1. Setting up Applanix POS AV

9.2.1.1. SensorHandler settings for POS AV

Adding Applanix POS AV to SensorHandler:

The Applanix POS AV 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 5605 (Applanix POS AV control port). This allows SensorHandler and Applanix POS AV to exchange information.

Settings in the Applanix dialog:

1	Set the real time port (default: 5606)
2	Use GNSS and IMU Data for navigation. Position, speed and altitude will be read and sent to TOPOFLIGHT NAVIGATOR. For special applications, alternative options can be selected.
3	Check this option if you need to release images through Applanix. For UltraCam and Riegl scanners these options are usually not activated.
4	If checked, the mount will be controlled through Applanix (default: checked). 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.
5	Check this option to correct the received GNSS ellipsoidal altitudes and get orthometric heights, i.e. heights on the geoid (default: checked).

9.2.1.2. Applanix POSView program settings

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:

9.2.2. Setting up Applanix AP+

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)

9.2.2.1. 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):

9.2.2.2. 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.

   

   Important

   When EGM96 altitudes are used (default) it is essential to enable GSOF setting #70 in the I/O configuration!

   

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 in the Applanix AP+ settings:

Instead, enable it in the RiACQUIRE dialog:

9.2.2.3. 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.

9.2.3. Setting up NMEA

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

• GPGGA

• GPVTG or GPRMC

9.2.3.1. Setting up NMEA in SensorHandler

Defining the button to connect to NMEA:

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

2. Select IMU / NMEA.

   

3. The button is now connected with IMU NMEA.

   

Hint

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

9.2.3.2. 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 IMU -> 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. Click the button on the right to test the settings

NMEA settings in SensorHandler for TCP/IP or UDP:

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

2. Then click the Settings button.

   

3. 1 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.
   2 The standard case is that navigation data from this IMU is used for navigation. So, by default, select the first option.

   

9.2.4. 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 Phase One 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):

9.3. Setting up cameras

9.3.1. Setting up ITRES

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 flight line the sensor starts

   • how many seconds after the flight line 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.
   

9.3.2. Setting up a Phase One camera

By default, Phase One 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 Phase One to SensorHandler:

The Phase One handler needs to be visible in the sensor list. Right-click on a free button and select Phase One 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 Phase One 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.
   
   1 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.

   2 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.

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

   4 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 flight line (no images will be taken if the airplane is outside of the flight line).

   5 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.

   6 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.
   

9.3.3. 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

   

9.4. Setting up LiDAR sensors

9.4.1. Setting up Riegl RiACQUIRE

Adding Riegl 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 Riegl RiACQUIRE to exchange information.

Settings in the Riegl RiACQUIRE dialog:

• Initialize/Working/Logging: This mode stops scanning at the end of a flight line by setting the scanner to initialized mode. It starts scanning again at the beginning of the line the scanner is set to logging mode.

  Working/Logging: This mode switches between working and logging only. This option is recommended for larger 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 and taking images! is set, then the scanner will keep scanning even outside of the corridor and images will be taken even if the airplane is outside of the horizontal tolerance (corridor).

Advanced settings in RiACQUIRE:

Select scanners and cameras

The button Get devices from RiACQUIRE can be clicked as soon as the scanner has been connected. Both lists (scanners and cameras) will automatically be filled with the existing scanners and cameras.

By default, the scanner(s) and camera(s) are switched on, meaning that SensorHandler controls the devices. If a camera or scanner does not need to capture images or scan, disable it by checking the box next to the device name.

Each scanner and each camera can be activated or deactivated during the flight without having to reset the software.

Two typical use cases:

• A Riegl system includes two cameras: one for RGB images and another for IR images. In certain projects, only RGB images are required, making the IR camera unnecessary.

• A Riegl system includes two cameras. When carrying out night flights the camera is not required to take images.

Automatic connection and disconnection

Set time limits for:

• Switching the scanner to working mode before the start of the flight line.

• Changing to working-logging mode before the start of the flight line.

• Transitioning to initialized mode after the flight line ends.

Enable Add segment number to RiACQUIRE record to add the segment number of the flight line to the line number (default: disabled).

Example: When Add line number to the record number and Add segment number are enabled the resulting record number for line 52 segment 2 will be 52-2.

Hint

Details on the flight line numbering scheme are explained here.

Triggering images box

The camera can be released either by using RiACQUIRE or by the IMU.

Further details can be found in our use cases.

Images triggered by RiACQUIRE:

1. Enable the option Release camera at predefined positions using RiACQUIRE.

2. In the IMU dialog (for instance in POS AV / AP+ settings) disable the option to release images through the IMU.

Images triggered by the IMU:

1. Enable the option Release camera through IMU.

2. In the IMU dialog (for instance in POS AV / AP+ settings) only the port of the event needs to be defined and the option to release images through the IMU must be disabled.

3. It is no longer necessary to select Camera is controlled by Applanix! The option is only required for specific integrations where the IMU must detect when an image should be triggered.

9.4.2. Standard and alternative image capture methods

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 POS AV menu. These settings are passed directly to the IMU, which in turn triggers the camera.

Standard image takings method (A) using RiACQUIRE:

SensorHandler takes images through RiACQUIRE and not through Applanix POS AV / AP+:

	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 POS AV / AP+:

SensorHandler takes images through Applanix POS AV / AP+ and not through RiACQUIRE:

	If the release camera is disabled SensorHandler will NOT release the camera using RiACQUIRE.
	In the Applanix dialog, disable the option to take images through Applanix as the command to trigger images is sent directly from SensorHandler RiACQUIRE.
	In RiACQUIRE, set trigger mode to External High.

9.5. Setting up sensor mount platforms

9.5.1. Using the SOMAG mount handler

9.5.1.1. The two main configurations

Important

To control the SOMAG mount, it is necessary to determine which device controls the mount.

Is it (A) the Flight Management system or (B) the IMU?

If using Applanix POS AV or Applanix AP+, then both (A) and (B) can be applied.

If using NMEA, then only (A) is possible.

(A) The mount is controlled by the FMS		(B) The mount is controlled by the IMU
1 The IMU sends position data to the FMS. This is usually done by Ethernet but it can also be done by serial communication.		1 The IMU sends position data to the FMS. The FMS sends freeze / unfreeze to the IMU.
2 The FMS is connected to the mount. 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 The mount is connected to the IMU. The IMU 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 the IMU.

Configuration A: Settings for mount control by the FMS

1. One of the buttons needs to be populated with the IMU being used, select one of:

   • Applanix POS AV

   • Applanix AP+

   • NMEA

   • iXBlue AIRINS

2. Select the SOMAG V2 on one of the SensorHandler buttons:

   

3. Click on COM ports and select SOMAG V2 to define the COM port the mount is connected to.

   

4. Select the COM port and baud rate by clicking the port button on the left (in this example COM3).

   

5. Set the baud rate to 115’200.

Configuration B: Settings for mount control by the IMU

Since the mount is controlled by the IMU, only the IMU needs to be assigned to a button (selecting a SOMAG driver is not required in this case). Ensure that the mount control is assigned accordingly in the settings!

Brief general step-by-step procedure:

1. In SensorHandler, click on the Ethernet button and set the IP Address and control port.

2. Click on the IMU button and select the settings.

3. In the section Mount controlled by … ensure that the box is checked.
   Example:

   

Hint

A detailed description of setting up the respective IMU is provided in the chapters Applanix POS AV and Applanix AP+.

9.5.1.2. 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 flight line 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 GNSS

• 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 flight line 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.

9.5.1.3. Pre-flight settings

1	Checked by default to enable heading corrections. 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):
2	Checked by default for transmission. 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.
3	In the edit fields, you define how many seconds before the start of the flight line the mount will go into STAB mode and how many seconds after the end of the flight line the mount will switch back to MAN mode.

9.5.1.4. Automatic transition between STAB and MAN mode

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

9.5.1.5. 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.

9.5.1.6. 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 in the top menu bar and activate Advanced options.

   

2. The top bar of the right SensorHandler window now includes several tabs, select Test2:

   

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

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

9.6. Setting up TOPOFLIGHT universal protocol

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.

Defining the button for TOPOFLIGHT universal sensor handling:

1. In the main sensor list, right-click on the button where you want to place the TF universal protocol connection.

2. Select either Camera -> TF Universal Protocol or LiDAR -> TF Universal Protocol.

3. The button is now connected to a sensor with the respective TF Universal Protocol.

   

   Set Go to logging to activate the logging mode for the system.

   Important

   The Trigger image button should only be used for testing your settings!

4. Define the details of the connection in the Advanced settings.

   

   1	As the airplane is aligned to the flight line and passed the defined time, an Acquire dark frame command is sent to the system.
   2	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.
   3	As the airplane passes this time marker, the start logging command will be sent to the system.
   4	As the airplane passes this time marker, an Acquire dark frame command will be sent to the system followed by a stop logging command.
   5	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.

9.7. Use cases

9.7.1. Riegl / Phase One / POS AV

Toolset

• Sensor: Riegl scanner with built-in Phase One camera

• IMU: Applanix POS AV

Settings

Triggering images using RiACQUIRE:

1. In the left sidebar of the SensorHandler dialog window, click on LiDAR Riegl RiACQUIRE.

2. Click on Advanced settings.

3. Select the cameras and/or scanners for your project by checking the boxes accordingly.

4. In the section Triggering images, select Release camera at predefined positions using RiACQUIRE so that the system triggers the images using RiACQUIRE (manual remote control).

5. In the left sidebar of the SensorHandler dialog window, select IMU APPLANIX POS AV.

6. Click on Settings and disable the option Camera is controlled by Applanix.

Triggering images using the IMU:

1. In the left sidebar of the SensorHandler dialog window, click on LiDAR Riegl RiACQUIRE.

2. Click on Advanced settings.

3. Select the cameras and/or scanners for your project by checking the boxes accordingly.

4. In the section Triggering images, select Release camera through IMU so that the system sends the trigger command to the IMU.

5. In Riegl-RiACQUIRE, set the configuration to external high.

6. In the left sidebar of the SensorHandler dialog window, select IMU APPLANIX POS AV.

7. Click on Settings and disable the option Camera is controlled by Applanix.

9.7.2. Riegl / Phase One / AP+

Toolset

• Sensor: Riegl scanner with built-in Phase One camera

• IMU: Applanix AP+

Settings

Triggering images using RiACQUIRE:

1. In the left sidebar of the SensorHandler dialog window, click on LiDAR Riegl RiACQUIRE.

2. Click on Advanced settings.

3. Select the cameras and/or scanners for your project by checking the boxes accordingly.

4. In the section Triggering images, select Release camera at predefined positions using RiACQUIRE so that the system triggers the images using RiACQUIRE (manual remote control).

5. In the left sidebar of the SensorHandler dialog window, select IMU APPLANIX AP+.

6. Click Settings and make sure the box For events use port is enabled and set to the port your system uses (see system manufacturer recommendation).

Triggering images using the IMU

1. In the left sidebar of the SensorHandler dialog window, click on LiDAR Riegl RiACQUIRE.

2. Click on Advanced settings.

3. Select the cameras and/or scanners for your project by checking the boxes accordingly.

4. In the section Triggering images, select Release camera through IMU.

5. In the left sidebar of the SensorHandler dialog window, select IMU APPLANIX AP+.

6. Click Settings and make sure the box For events use port is enabled and set to the port your system uses (see system manufacturer recommendation).

9.7.3. Helicopter flights

When using NAVIGATOR in a helicopter, we recommend to apply helicopter specific settings to enhance navigation and reduce pilot workload.

9.7.4. LiDAR without images

There are two common scenarios for using LiDAR without images:

1. During flights planned for both LiDAR and camera use, all cameras can be disabled to operate only the scanner (for instance, when transitioning from a daytime to a nighttime flight).

2. A flight plan may be specifically designed for LiDAR operation without capturing images.

We recommend the following settings:

1. Switching OFF all cameras:

1. In the SensorHandler dialog window, click on LiDAR Riegl RiACQUIRE and disable all cameras. The option Use image positions as pseudo images appears.

2. Enable the option Use image positions as pseudo images. As a result, image locations are colored green, just as they would be if the cameras were activated. In the imagetakings.txt file, the pseudo image is recorded in the same format as a real image, with “pseudo image” appended at the end of the line.

   

2. Flights planned without images:

1. In the SensorHandler dialog window, click on LiDAR Riegl RiACQUIRE.

2. Click on Advanced settings.

3. Enable Use image positions as pseudo images.

   As a result, each line will be colored green when the airplane passes the start and the end point.

   Lines will be colored orange if the airplane passes only the start or the end point.

   Flight lines that have not been flown (neither start nor end point were passed) are colored red.