A combined Dual Antenna GNSS-Aided Inertial Navigation System, datalogger, LiDAR, camera and communications system, RESEPI offers real-time and post-processed generation of point cloud solutions. The processing platform contains a WiFi interface, embedded cellular modem to support RTCM corrections, data logging software and gigabit ethernet.
RESEPI can be used with commercially available LiDARs, including Ouster, Velodyne, Quanergy, RIEGL, LIVOX, with all components mounted into one compact and light-weight enclosure, and can be easily integrated with a range of drone platforms.
LiDAR scanners vary in several key specifications, including; maximum AGL (above ground level), range accuracy, scan rate and field of view, while different scanning applications will have different requirements that not all LiDAR sensors will be able to meet.
The INS-D-OEM is easily integrated with many of the top LiDAR scanners meaning that RESEPI can be used in a wide range of applications with varying requirements. In addition to the LiDAR integrations, RESEPI has also been designed to work with stereo cameras, such as the Sony A6000 for photogrammetry, and the Blackfly FLIR.
Featuring a comprehensive interface both in and out of flight, RESEPI displays what devices are connected and information from the data logger, which includes inertial data, LiDAR data points, base station data, and raw GNSS data. If RESEPI is integrated with a camera in addition to LiDAR, the interface will show the number of images captured from the camera device. Each category of data from the data logger makes up the components required for generating a point cloud. If using a real-time solution, then data logging features the ability to have a scan file generated at the time of scan completion.
The development pipeline will see RESEPI paired with NVIDIA graphics cards to enable real-time data processing and object recognition, avoidance and SLAM based navigation, opening up further applications in autonomy. Additionally, RESEPI can be sensor fused with many types of optical data which is currently limited to stereo cameras, however, future collaborations will see development with multiple LiDAR sensors, thermal cameras, stereo cameras, infrared cameras and other sources of optical data.
See ‘Specifications for different LiDAR models’ tab above for tailored capabilities
|Weight (without LiDAR)||0.37 kg|
|Power consumption (with VLP-16 LiDAR)||12 W|
|Position accuracy (GPS aided INS)||0.5 cm (PPK estimated) / 1 cm + 1 ppm (RTK)|
|Attitude accuracy (GPS aided INS)||<0.01° pitch and roll <0.05° heading|
|Precision (point cloud)||3 – 5 cm (dependent on LiDAR, taken on the same target @ 50 m AGL)|
|Scanner field of view||360° (dependent on LiDAR)|
|Compatible LiDAR scanners||Ouster, Velodyne, Quanergy, Livox. Can be calibrated for use with many commercially available brands|
|Inertial Navigation System||Inertial Labs INS-B-OEM, INS-D-OEM|
|Recorded data||GNSS data for PPK|
GNSS time-stamped INS and IMU data
GNSS time-stamped LiDAR scans
GNSS time-stamps for camera strobe pulses
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