Think 3D STORMBEE Manual de usuario

STORMBEE

Software User Manual

Think 3D BVBA

30/09/2018

STORMBEE Software User Manual –Think 3D BVBA

Version N°1.1, last modified 30/09/2018

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STORMBEE Software User Manual –Think 3D BVBA

Version N°1.1, last modified 30/09/2018

iii

Version control

Author

Date

Version

Comments/Adaptations

Jon Verbeke

26/04/2018

1.0

Initial version

Jon Verbeke

30/09/2018

1.1

Updated to S20 production model

STORMBEE Software User Manual –Think 3D BVBA

Version N°1.1, last modified 30/09/2018

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STORMBEE Software User Manual –Think 3D BVBA 
Version N°1.1, last modified 30/09/2018 
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Table of Contents 
Version control........................................................................................................................................iii 
List of figures ..........................................................................................................................................vii 
List of tables ............................................................................................................................................xi 
Symbols and abbreviations ...................................................................................................................xiii 
Introduction..................................................................................................................................... 1 
1 System requirements .............................................................................................................. 1 
2 General workflow postprocessing........................................................................................... 1 
Extracting data from FARO scanner and GNSS module .................................................................. 3 
1 Extracting data from FARO scanner ........................................................................................ 3 
1.1 Extraction......................................................................................................................... 3 
1.2 Format ............................................................................................................................. 4 
2 Extracting data from GNSS module......................................................................................... 5 
Applanix POSPac UAV.................................................................................................................... 11 
1 Installation POSPac UAV........................................................................................................ 11 
2 Importing GPS trajectories .................................................................................................... 12 
3 Processing raw GNSS data to refined GNSS data.................................................................. 17 
3.1 Single base processing................................................................................................... 18 
3.2 SmartBase processing.................................................................................................... 25 
3.3 Own base station processing......................................................................................... 35 
3.4 Quality control............................................................................................................... 36 
3.5 Data export.................................................................................................................... 42 
4 Troubleshooting .................................................................................................................... 44 
4.1 Import error................................................................................................................... 44 
4.2 Checking message logs for errors after import ............................................................. 45 
4.3 Too few satellites (below five) ...................................................................................... 47 
BEEFLEX ......................................................................................................................................... 49 
1 Installation............................................................................................................................. 49 
2 Data processing ..................................................................................................................... 51 
Visualisation (refined) point cloud ................................................................................................ 57 
1 CloudCompare information................................................................................................... 57 
1.1 Install Cloud Compare software.................................................................................... 57 
1.2 Visualize cloud point data ............................................................................................. 57 

STORMBEE Software User Manual –Think 3D BVBA

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5.2 Visualisation postprocessed point cloud............................................................................... 57

5.2.1 Import data files ............................................................................................................ 57

5.2.2 Verify accuracy results................................................................................................... 59

5.3 Examples post-processed data.............................................................................................. 68

6 STORMBEE and FARO scanner calibration procedure................................................................... 71

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List of figures 
Figure 1.1 STORMBEE post-processing software workflow.................................................................... 2 
Figure 2.1 Remove SD-card from FARO scanner..................................................................................... 3 
Figure 2.2 Insert SD-card into computer................................................................................................. 4 
Figure 2.3 FARO scanner data *.fls folder structure ............................................................................... 4 
Figure 2.4 Data extraction: connect battery ........................................................................................... 5 
Figure 2.5 Data extraction: turn on GNSS avionics and connect ethernet cable.................................... 6 
Figure 2.6 Ethernet settings 1 ................................................................................................................. 6 
Figure 2.7 Ethernet settings 2 ................................................................................................................. 7 
Figure 2.8 Ethernet settings 3 ................................................................................................................. 7 
Figure 2.9 FileZilla open site manager..................................................................................................... 8 
Figure 2.10 FileZilla site manager settings .............................................................................................. 8 
Figure 2.11 FileZilla connect to STORMBEE............................................................................................. 9 
Figure 2.12 FileZilla select files and drag to left screen .......................................................................... 9 
Figure 2.13 FileZilla file transfer progress ............................................................................................. 10 
Figure 2.14 FileZilla file transfer succesful ............................................................................................ 10 
Figure 3.1 Applanix base stations worldwide........................................................................................ 11 
Figure 3.2 Applanix license activation step 1 ........................................................................................ 12 
Figure 3.3 Applanix license activation step 2 ........................................................................................ 13 
Figure 3.4 Applanix new default project ............................................................................................... 13 
Figure 3.5 Importing GNSS data files from PosPac ribbon.................................................................... 14 
Figure 3.6 Applanix GNSS data import progress window 1................................................................... 14 
Figure 3.7 Applanix GNSS data import progress window 2................................................................... 15 
Figure 3.8 Applanix GNSS antenna used ............................................................................................... 15 
Figure 3.9 Applanix trajectory with zoomed view of orange event triangles ....................................... 16 
Figure 3.10 Applanix import failure error message .............................................................................. 16 
Figure 3.11 Applanix IMU data continuity check error message .......................................................... 16 
Figure 3.12 Applanix processing initialisation settings ......................................................................... 17 
Figure 3.13 Applanix GNSS-Inertial processor button........................................................................... 17 
Figure 3.14 Applanix GNSS-Inertial processor Single Base.................................................................... 18 
Figure 3.15 Applanix data base import options .................................................................................... 18 
Figure 3.16 Applanix data base import high-rate data sites ................................................................. 19 
Figure 3.17 Applanix data base import single base............................................................................... 20 
Figure 3.18 Applanix data base stations import list.............................................................................. 21 
Figure 3.19 Applanix single base station w.r.t. mission trajectory view............................................... 21 
Figure 3.20 Applanix set single base station ......................................................................................... 22 
Figure 3.21 Applanix single base station data quality analysis ............................................................. 23 
Figure 3.22 Applanix GNSS-inertial processor processing..................................................................... 23 
Figure 3.23 Applanix GNSS-Inertial processing completed................................................................... 24 
Figure 3.24 Applanix GNSS-Inertial processor SmartBase..................................................................... 26 
Figure 3.25 Applanix data base import options .................................................................................... 26 
Figure 3.26 Applanix data base import high-rate data sites ................................................................. 27 
Figure 3.27 Applanix data base import SmartBase ............................................................................... 27 

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Figure 3.28 Applanix data base stations import list.............................................................................. 28 
Figure 3.29 Applanix set SmartBase control station ............................................................................. 29 
Figure 3.30 Applanix GNSS-inertial processor processing SmartBase .................................................. 30 
Figure 3.31 Applanix SmartBase website.............................................................................................. 30 
Figure 3.32 Applanix SmartBase Login and register for free................................................................. 31 
Figure 3.33 Applanix SmartBase Login.................................................................................................. 31 
Figure 3.34 Applanix SmartBase search mission location..................................................................... 32 
Figure 3.35 Applanix SmartBase mission location ................................................................................ 32 
Figure 3.36 Applanix SmartBase mission location marker.................................................................... 33 
Figure 3.37 Applanix SmartBase preview SmartBase button................................................................ 33 
Figure 3.38 Applanix SmartBase VRS info ............................................................................................. 34 
Figure 3.39 Applanix SmartBase VRS request window ......................................................................... 34 
Figure 3.40 Applanix SmartBase VRS data (full).................................................................................... 35 
Figure 3.41 Applanix SmartBase VRS data to import in POSPac ........................................................... 35 
Figure 3.42 Applanix quality control generate diagnostic report ......................................................... 36 
Figure 3.43 Applanix quality control display plots overview................................................................. 37 
Figure 3.44 Applanix quality control display plot RMSE........................................................................ 38 
Figure 3.45 Applanix quality control display plot number of satellites................................................. 39 
Figure 3.46 Applanix quality lever arm settings.................................................................................... 40 
Figure 3.47 Applanix quality control display plot PDOP........................................................................ 40 
Figure 3.48 Applanix quality control display plot cycle slips................................................................. 41 
Figure 3.49 Applanix export LIDAR event data (for BEEFLEX processing)............................................. 42 
Figure 3.50 Applanix export trajectory data (for BEEFLEX processing) step 1...................................... 43 
Figure 3.51 Applanix export trajectory data (for BEEFLEX processing) step 2...................................... 43 
Figure 3.52 Applanix import failure error message .............................................................................. 44 
Figure 3.53 Applanix import error split file program ............................................................................ 44 
Figure 3.54 Applanix import error split files.......................................................................................... 45 
Figure 3.55 Applanix opening message logs dropdown menu.............................................................. 45 
Figure 3.56 Applanix message log POS data import.............................................................................. 45 
Figure 3.57 Applanix message log IMU data continuity checking (step 1)............................................ 46 
Figure 3.58 Applanix message log IMU data continuity checking (step 2)............................................ 46 
Figure 3.59 Applanix satellite elevation mask angle ............................................................................. 47 
Figure 4.1 BEEFLEX program folder structure....................................................................................... 49 
Figure 4.2 BEEFLEX license activation and management...................................................................... 50 
Figure 4.3 BEEFLEX start screen ............................................................................................................ 50 
Figure 4.4 Folder containing all files required by BEEFLEX ................................................................... 51 
Figure 4.5 BEEFLEX select folder flight and scan data........................................................................... 51 
Figure 4.6 BEEFLEX import raw scan data and convert to *.e57-format .............................................. 52 
Figure 4.7 BEEFLEX flight and scan data general overview................................................................... 52 
Figure 4.8 BEEFLEX flight and scan data general overview (satellite view) .......................................... 53 
Figure 4.9 BEEFLEX data import possible error messages..................................................................... 53 
Figure 4.10 BEEFLEX select relevant section of flight............................................................................ 54 
Figure 4.11 BEEFLEX select multiple sections of flight.......................................................................... 54 
Figure 4.12 BEEFLEX data processing run information window............................................................ 55 
Figure 4.13 BEEFLEX data processing progress E57-format.................................................................. 56 

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Figure 4.14 BEEFLEX data processing progress LAS-format.................................................................. 56 
Figure 4.15 BEEFLEX refined point cloud data folder structure............................................................ 56 
Figure 5.1 CloudCompare import files through desktop icon............................................................... 58 
Figure 5.2 CloudCompare import point cloud properties window ....................................................... 58 
Figure 5.3 CloudCompare import point cloud progress........................................................................ 59 
Figure 5.4 CloudCompare visualisation refined point clouds................................................................ 59 
Figure 5.5 CloudCompare selection flight (segment)............................................................................ 60 
Figure 5.6 CloudCompare flight (segment) colour selection window................................................... 60 
Figure 5.7 CloudCompare flight (segments) with unique colours......................................................... 61 
Figure 5.8 CloudCompare selecting all point clouds in Navigation menu............................................. 61 
Figure 5.9 CloudCompare all point clouds selected in navigation menu.............................................. 62 
Figure 5.10 CloudCompare point cloud cross-section .......................................................................... 62 
Figure 5.11 CloudCompare cross-section properties window .............................................................. 63 
Figure 5.12 CloudCompare point cloud with cross-section properties window and interactors ......... 63 
Figure 5.13 CloudCompare point cloud cross-section narrow slice...................................................... 64 
Figure 5.14 CloudCompare point cloud slice zoomed in (10 meter)..................................................... 64 
Figure 5.15 CloudCompare cross-section zoomed in (1 meter)............................................................ 65 
Figure 5.16 CloudCompare cross-section in-plane quality control....................................................... 65 
Figure 5.17 CloudCompare point cloud cross-section narrow slice (example 2).................................. 66 
Figure 5.18 CloudCompare point cloud slice zoomed in (example 2)................................................... 67 
Figure 5.19 CloudCompare cross-section in-plane quality control (example 2)................................... 67 
Figure 5.20 Final post-processed point cloud ....................................................................................... 68 
Figure 5.21 3D model based on final post-processed point cloud data................................................ 68 
Figure 5.22 2D drawing based on final post-processed point cloud data............................................. 69 
Figure 6.1 STORMBEE hastag (#) calibration flight path example......................................................... 71 
Figure 6.2 Folder containing all files required by BEEFLEX ................................................................... 72 
Figure 6.3 FARO scanner calibration "config.ini" file ............................................................................ 72 
Figure 6.4 FARO scanner calibration parameters (heading, pitch and roll).......................................... 73 
 
 