Rakesh Kumar Rakesh Kumar Mishra Mishra An Object An Object- -Oriented Software Oriented Software Development Approach to Design Development Approach to Design Development Approach to Design Development Approach to Design Simulator for Airborne Altimetric LiDAR Simulator for Airborne Altimetric LiDAR Rakesh Kumar Mishra, Bharat Lohani Geoinformatics division I di Indian Institute of Technology Kanpur I tit t f T h l K Kanpur, INDIA Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 1
Rakesh Kumar Rakesh Kumar Mishra Mishra P i Principle of LiDAR Principle of LiDAR P i i l i l f LiDAR f LiDAR INS, GPS, Scanner Laser transmitter (x,y,z, direction cosines) d d X,Y,Z Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 2
Rakesh Kumar Rakesh Kumar Mishra Mishra LiDAR T LiDAR T LiDAR Technology LiDAR Technology h h l l � Provides accurate topographic data at high speed � Data collection with higher density accuracy & less time � Data collection with higher density, accuracy & less time � Weather and light independent Applications: • DEM generation • Flood hazard zonation • Cellular networks etc. Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 3
Rakesh Kumar Rakesh Kumar Mishra Mishra Object Object- j -Oriented Software Oriented Software Development Development Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 4
Rakesh Kumar Rakesh Kumar Mishra Mishra Initial Investigation (Why simulator ?) Initial Investigation (Why simulator ?) � LiDAR Instrument is very costly � LiDAR data is not available in most of the countries � LiDAR data is not available in most of the countries � LiDAR data is not available for teaching as required g q � LiDAR data is not available for research as required � Software for flight planning Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 5
Rakesh Kumar Rakesh Kumar Mishra Mishra Requirements Requirements Requirements Requirements � User friendly GUI � Simulation of generic as well as commercial sensors � Simulation of earth like surfaces � Flight trajectory as in case of actual flight � Flight trajectory as in case of actual flight � Possibilities of error introduction � Output data in common format � Help and tutorial Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 6
Rakesh Kumar Rakesh Kumar Mishra Mishra Feasibility study Feasibility study � Sufficient background is available for the system � Sufficient background is available for the system development � The system can be engineered using current technology � Development can be done within the budget & time � Developed system will be useful for the user group Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 7
Rakesh Kumar Mishra Rakesh Kumar Mishra Object Object- -Oriented analysis Oriented analysis Surface User Trajectory Output Integration Sensor Use case diagram Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 8
Rakesh Kumar Rakesh Kumar Mishra Mishra � Objects in the problem domain is identified � Object relationships are made � Object state table is developed � Object state table is developed � Inheritance diagram for objects is made Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 9
Rakesh Kumar Mishra Rakesh Kumar Mishra Object-oriented design Obj Obj Object t t oriented design ri nt d d ri nt d d i n i n INPUT I ntegration Terrain Terrain Sensor Sensor Trajectory Trajectory component component component OUTPUT Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 10 10
Rakesh Kumar Mishra Rakesh Kumar Mishra Terrain components Terrain components Terrain components Terrain components Terrain component t Polynomial Fractal surface Raster surface surface Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 11 11 11 11
Rakesh Kumar Rakesh Kumar Mishra Mishra Sensor components Sensor components Sensor components Sensor components Sensor component t ALS 50 Generic sensor ALTM Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 12 12 12 12
Rakesh Kumar Rakesh Kumar Mishra Mishra Trajectory components Trajectory components Trajectory components Trajectory components Trajectory component Attitude Location Acceleration Velocity Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 13 13 13 13
Rakesh Kumar Rakesh Kumar Mishra Mishra Cl Class design Class design Cl d d i n i n � Identify classes from the components � Identify classes from the components � Identify subclass within each class � Identify abstraction in each class � Identify the common behaviour of classes Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 14 14
Rakesh Kumar Rakesh Kumar Mishra Mishra S S System implementation System implementation t m impl m nt ti n t m impl m nt ti n � Java is used to realize the design � Java is used to realize the design � Each classes are implemented with its relationship � Standard way of coding is used � Methods are designed for each basic task Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 15 15
Rakesh Kumar Rakesh Kumar Mishra Mishra C mpl Complexities handled Complexities handled C mpl iti iti h ndl d h ndl d � Efficient algorithms are designed � Efficient algorithms are designed � Threads are used to optimize software execution � Special data structures are designed to handle memory problems � New file formats are designed to improve I/O Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 16 16
Rakesh Kumar Rakesh Kumar Mishra Mishra Software Software Screenshots Screenshots Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 17 17
Rakesh Kumar Rakesh Kumar Mishra Mishra Polynomial surface Polynomial surface Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 18 18
Rakesh Kumar Rakesh Kumar Mishra Mishra Raster surface(City model) Raster surface(City model) Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 19 19
Rakesh Kumar Rakesh Kumar Mishra Mishra Fractal surface Fractal surface Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 20 20
Rakesh Kumar Rakesh Kumar Mishra Mishra Acceleration Acceleration Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 21 21
Rakesh Kumar Rakesh Kumar Mishra Mishra Sensor component Sensor component Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 22 22
Rakesh Kumar Rakesh Kumar Mishra Mishra System defined optimal flight lines System defined optimal flight lines System defined optimal flight lines System defined optimal flight lines Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 23 23
Rakesh Kumar Rakesh Kumar Mishra Mishra User defined optimal flight lines User defined optimal flight lines User defined optimal flight lines User defined optimal flight lines Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 24 24
Rakesh Kumar Rakesh Kumar Mishra Mishra Attitude Attitude Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 25 25
Rakesh Kumar Rakesh Kumar Mishra Mishra Error simulation Error simulation Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 26 26
Rakesh Kumar Rakesh Kumar Mishra Mishra Output generation Output generation Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 27 27
Rakesh Kumar Rakesh Kumar Mishra Mishra Software Software Results Software Software Results Results Results Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 28 28
Rakesh Kumar Rakesh Kumar Mishra Mishra 3D Raster terrain (Displayed in Surfer) 3D Raster terrain (Displayed in Surfer) Altitude=210m Overlap=4% Velocity=60m/s Velocity=60m/s Sensor-ALS-50 Firing frequency=20KHz Scan frequency=48Hz Scan angle=40 ° Flight area=430m×430m Flight area 430m 430m Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 29 29
Rakesh Kumar Rakesh Kumar Mishra Mishra Lidar data plot in plan Lidar data plot in plan A A A-A B-B Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 30 30
Rakesh Kumar Rakesh Kumar Mishra Mishra Profile A Profile A- -A with and without error A with and without error Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 31 31
Rakesh Kumar Rakesh Kumar Mishra Mishra Profile B Profile B- -B with respect to flight lines B with respect to flight lines Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 32 32
Rakesh Kumar Rakesh Kumar Mishra Mishra LiDAR data without error LiDAR data without error Indian Institute of Technology Kanpur Indian Institute of Technology Kanpur 33 33
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