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WASP-lite Design Review

April 15, 2005

Prepared by:

Michael Richardson

Jason Faulring

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WASP-lite Design Drivers

• Perform a multispectral mapping mission– Daylight operation– Multispectral = Three VNIR cameras + LWIR camera + Pan

sharpening camera– Interchangeable bandpass filters on VNIR cameras

• Night LWIR mapping mission– One LWIR camera

• Capable of flying on a Cessna 172 with a 9” camera hole– Challenge is to make as light and compact as possible

• Relatively inexpensive cost (material <$60K)– Using a high level of COTS hardware

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WASP-lite System Requirements

• Nominal Operational Altitude: 3000 ft.• Nominal Aircraft Speed: 90 knots• Collection Duration (all cameras operating): 60 min.• Nominal Ground Sample Distance:

– Panchromatic Band (sharpening): 0.5 m– Multispectral Bands (radiometric): 1.0 m– Infrared (LWIR): 4.0 m

• Mapping Accuracy: TBD

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WASP-lite Design Configuration

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WASP-lite ComponentsWASP-lite

Panchromatic Sharpening Camera (Qty.=1)

Imaging Subsystem Assembly

VNIR Panchromatic Radiometric Camera (Qty.=3)

LWIR microbolometer Camera (Qty.=1)

Integrated IMU/GPS

Imaging Subsystem Enclosures

Aircraft Interface Mount

Electronic Rack Assembly

System Computer

CameraLink Frame Grabber (Qty.=2)

Removable Storage Drive

Power Supply

Operator Interface

19” Electronics Rack

LVDS Frame Grabber

Timing Subsystem

Cable Assemblies

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WASP-lite Block DiagramPanchromatic

Camera

MultispectralCamera #1

MultispectralCamera #2

MultispectralCamera #3

LWIRCamera

PowerSupply

IntegratedGPS/IMU

+28VDC(fused)

GPSAntenna

CamerLink FrameGrabber Card #1

CamerLink FrameGrabber Card #2

16 bit Parallel FrameGrabber Card

Universal AsynchronousReceiver Transmitter

(UART #1)

Universal AsynchronousReceiver Transmitter

(UART #2)

I/O Card

+28VDC

CameraLink

CameraLink

CameraLink

CameraLink

OperatorInterface

12 bit Parallel

RS 232

RS 232

VGA

USB

+12VDC

+28VDC Aircraft Power

TriggerTTI

(0 - 5V)

+7VDC(fused)

+12VDC(fused)

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Detailed Design:

Imaging Subsystem Assembly

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WASP-lite Component Design

• Integrated GPS/IMU– Function: provides pointing information and geolocation

during imaging– Manufacturer: BEI Technologies, Inc.– Model Number: C-MIGITS III– Accuracy:

• Heading: 1 mrad• Roll: 1 mrad• Pitch: 1 mrad

– Size(L x W x H): 3.53 x 3.189 x 4.75 in.– Weight: 2.4 lbs.– Power: + 28V DC at 18 watts– Operating Temperature: - 40 to +71 oC– Shock: 20g

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WASP-lite Component Design• Multispectral Panchromatic Camera

– Function: three identical cameras are co-aligned to provide different spectra via interchangeable filters

– Manufacturer: Sony– Model Number: XCL-V500– Sensor: progressive scan, interline CCD

• Pixel Size: 7.4 X 7.4µm• Array Size: 648 X 494• Frame Rate (max): 60 Hz• Shutter: ¼ to 1/100,000 sec.

– Dynamic Range: 10 bits– Data Output: 0.64MB/image (16bits/pixel)– Output Interface/Control Interface: CameraLink– Optical Interface: C Mount– Size(L x W x H): 1.12 x 1.12 x 1.12 inches– Weight: 0.13 lbs.– Power: + 12V DC at 2 watts– Operating Temperature: -5 to +45 oC– Shock: 70g

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WASP-lite Component Design• Panchromatic Sharpening Camera

– Function: one cameras are co-boresighted to the other four cameras to provide a higher resolution sharpening band

– Manufacturer: Sony– Model Number: XCL-U1000– Sensor: progressive scan, interline CCD

• Pixel Size: 4.4 X 4.4µm• Array Size: 1628 x 1236 (Output Image: 1600 x 1200)• Frame Rate (max): 15 Hz• Electronic Shutter: 1/15 to 1/10,000 sec.

– Dynamic Range: 10 bits– Data Output: 4MB/image (16bits/pixel)– Output Interface/Control Interface: CameraLink– Optical Interface: C Mount– Size(L x W x H): 1.75 x 2.25 x 3.75 inches– Weight: 0.56 lbs.– Power: + 12V DC at 5.5 watts– Operating Temperature: -5 to +45 oC– Shock: 70g

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WASP-lite Component Design• LWIR Camera

– Function: one cameras are co-boresighted to the other four cameras to provide a higher resolution sharpening band

– Manufacturer: DRS

– Model Number: E3500

– Sensor: Uncooled VOx Microbolometer Array• Pixel Size: 25.4 X 25.4µm• Array Size: 320 X 240• Frame Rate (max): 60 Hz• Shutter: fixed at 15 msec. (guess)

– Output Interface: 12 bit digital

– Communication Interface: RS 232

– Optical Interface: Proprietary mount• Focal Length: 11 mm• Focal Ratio: f/1

– Size(L x Dia.): 3.54 X 1.73 inches

– Weight: 0.27 lbs.

– Power: + 6 to + 8 VDC at 1.5 watts

– Operating Temperature: -37 to + 49 oC

– Shock: not known

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WASP-lite Camera OpticsVNIR Optics Infrared Optics

Application Radiometric Pan Sharpening LWIR Imaging

Manufacturer Schneider Schneider DRS

Model 41823 Cinegon Compact 41827 Cinegon Compact 11mm

Focal Length 8 mm 12 mm 11mm

Focal Ratio (f/N) 1.4 – 22 1.4 - 22 1.0

Camera Interface C mount C mount Proprietary

Weight 150g 150g Integrated with Camera

Dimensions (H X Dia.) 38.6 X 34mm 38.6 X 34mm Integrated with Camera

Iris Control Manual Manual None

Spectral Bandpass 0.4 – 1.0µm (with no focus correction required)

0.4 – 1.0µm (with no focus correction required)

8 – 12 µm

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Detailed Design:

Electronics Rack Assembly

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WASP-lite Component Design• System Computer and Data Storage

– Function: system computer, frame grabber interface, and mass data storage

– Manufacturer: CyberResearch– Chasis Model Number: RBC MX

• 4U Rack Mount Chasis• Backwards Mount Board Interface

– Motherboard• Processor: 3.4GHz, Intel Pentium 4• SDRAM: 1 GB

– Operating System: Windows XP– Data Storage: 40 GB, removable– Size (H x L x D): 7”(4U) x 19” x ??– Weight: ????– Power: ????– Operating Temperature: 5 to +45 oC– Shock: 70g

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Software Design Approach

• COTS Windows XP OS• SDKs from Coreco (MS + Pan cameras) & NI (LWIR

camera) to talk to camera & timer hardware• Visual C++ to talk to SDK’s, integrate system, compile

information, and organize for easy post processing• Custom written module to capture and process

information from the CMIGITS Nav system (async RS-232 serial)

• Multi-Threaded design for speed• Flexible to allow ease of adding/subtracting cameras

from the system• Easy to use GUI targeted for touch panel operation in a

very confined cockpit of the aircraft

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Power Supply Subsystem

• DC-DC converters for +12V & +7V

• Direct Aircraft power for +28V

• Power conditioning to smooth out bumps in supply power

• Fused & remote pendant for pilot/operator control of power

• Budget: LWIR Camera: 0.25A @ 7V VGA Cameras: 0.5A @ 12V Pan Camera: 0.5A @ 12V Touch Panel: 1.2A @ 12V CMIGITS: 0.64A @ 28V Computer: 4A @ 28V (est)

- Regulated Power - Power Switch

+28VDC (fused)

+12VDC (fused)

+28VDC Aircraft

+6-8VDC (fused)

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Timing Subsystem

NI 4 channel timer card

CMIGITS NAV1pps GPS sync

FMS System(optional)

Line Drivers

CaptureCard

CaptureCard

CaptureCard

Trigger Trigger Trigger

•Timer card guarantees camera triggers line up with NAV solution (can output at 10Hz)

•Easily configurable to allow FMS to trigger system in conjunction with CMIGITS

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19” Electronics Rack Enclosure

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Operator Interface• Touch screen interface

– Function: operator interface for WASP-lite and color LCD monitor for viewing imagery in-flight

– Manufacturer: NEC– Model Number: NL10276AC24-02– Output Interface: Universal Serial

Bus (USB)– Input Interface: VGA– Resolution: 1024 x 768– Size(L x W x D): 11.4”x8.9”x0.7”– Weight: 2.1 lbs.– Power: 12VDC at 14 Watts

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Mechanical Packaging, Integration Approach, and Aircraft Interface

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WASP-lite in 9” Camera Hole

9” Camera Opening

MS Camera1.33 inch Dia.

5 inches

5 in

ches

LWIR Camera1.75 inch Dia.

Panchromatic Camera2.25 x 1.75 inches

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Sensor Head Enclosure

Mount Feet(4 Places)

MS Cameras

Panchromatic CameraLWIR Camera

GPS/IMU

GPS/IMU Mount Plate

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Sensor Head Mount Interface

PassiveVibrationIsolators

AircraftInterfacePlate

BoltedInterface

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Electronics Rack Assembly

CyberResearch

Aircraft Power In+ 28VDC

Power Out+ 28VDC

Power Out+ 12VDC

System Computer

Power Supply

Slots forPCI Cards

19” Rackmount Frame, Frame Isolators,and PVC Enclosure

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Integrated WASP-lite System

GPS Antenna

Camera Head Assembly

Operator Interface

Electronics Rack Assembly

CyberResearch

Aircraft Power In+ 28VDC

Power Out+ 28VDC

Power Out+ 12VDC

Aircraft Power In(+28VDC)

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Boresight Process

Acquire a block of images &

EO over control area

Convert EO to O,P,KIn a fixed LSR

coordinate system w/ input boresight

angles = 0

Block adjust imagesusing Imagine &

GCPs to generate true EO of images

Solve for the boresight matrix of

each image

Find an average setof boresight anglesacross all images

Apply new boresight& regenerate EO

in the LSR system

Ortho images using new EO in Imagine & checkagainst GCPs for

accuracy

Repeat for other 4cameras or utilize

Harvey’s projectivetransform method for registration & register other cameras to the boresighted camera

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System Functional Analysis

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GSD and FOV at 3,000 ft. AGL

12.0 mm

Pan Sharpen 4.4 µm

3,000 ft.(914,400 mm)

GSD = 0.34 m

8.0 mm

Multispectral 7.4 µm

3,000 ft.(914,400 mm)

GSD = 0.84 m

11.0 mm

LWIR25.4 µm

3,000 ft.(914,400 mm)

GSD = 2.1 m.0044 mm = 12.0 mm GSD 914,400 mm

1600 X 1200

536 m

402 m

.0074 mm = 8.0 mm GSD 914,400 mm

648 X 494

548 m

418 m

.0254 mm = 11 mm GSD 914,400 mm

320 X 240

672 m

504 m

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FOV Comparison at 3,000ft. AGL

1600 X 1200(0.34 m GSD)

536 m

402 m

648 X 494(0.84 m GSD)

548 m

418 m

320 X 240(2.1 m GSD)

672 m

504 m

Panchromatic Band

Multispectral Band

LWIR Band 24 LWIR Pixels

9.5 MS Pixels

6 MS Pixels

32.4 LWIR Pixels

GSD ComparisonPan:MS 2.5:1Pan:IR 6.2:1

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WASP-lite Collection Performance – Framing Mode

• Assumptions:– Aircraft Platform: Cessna 172– Altitude: 3,000 ft.– Aircraft Speed: 90 knots (slow) and 130 knots (cruise)

• Image Collection Mode

• Boresight Calibration ModeAircraft In-track CameraSpeed Overlap Firing Rate1

90 knots 60% 1 frame/3.5 sec

130 knots 60% 1 frame/2.5 sec

Aircraft In-track Camera Collection Frames BytesSpeed Overlap Firing Rate1 Rate2 per hour per hour

90 knots 10% 1 frame/7.9 sec 22,076 acres/hr. 456 2.6 GB/hr.

130 knots 10% 1 frame/5.4 sec 31,888 acres/hr. 667 3.6 GB/hr.

Notes:1Firing rate is driven by the Pan camera that has the smallest footprint2Does not include turning inefficiency

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WASP-lite Collection Performance – Video Mode

• Assumptions:– Aircraft Platform: Cessna 172– Altitude: 3,000 ft.

• Video Mode:

• Alternative Options Available to Increase Frame Rate:1. Reduce number of video cameras operating during collection

2. Buffer data during burst mode

3 MS Camera

1 Pan Camera

1 LWIR Camera

Disc Drive Maximum Video Output 2 – 3 Frames/sec

167.4 MB/sec

12 MB/sec(write limited)

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Application Experiments

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RGB Color Imaging with Pan Sharpening

• Mission: collect high resolution RGB images and have ability to pan sharpen

• Hardware Configuration:– Three MS Cameras– One Pan Camera– Filter Configuration as shown:

Filter BandpassCamera Configuration (nm)MS #1 BlueMS #2 GreenMS #3 RedPan ARLWIR N/A

MS #1Blue

MS #2Green

MS #3Red

Pan Sharpen

Pan SharpenedColor Image

ColorImage

Register

Register

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Potassium Emission Line Detection

• Mission: detect potassium (K) signature from a flaming fire

• Hardware Configuration:– Two MS cameras– One LWIR camera– Filter Configuration as shown:

• Data Product(s):

Filter BandpassCamera Configuration (nm)MS #1 On K-line 765.5 (FWHM = 2 nm)MS #2 Off K-line 780.0 (FWHM = 10 nm)MS #3 N/A N/APan AR 400 - 900LWIR None 8,000 – 12,000

MS #1On K-line

MS #2Off K-line

Pan Sharpen

LWIR

Band RatioRegister

FusedFireMap

Register

K BandThresholdMap

Register

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Polarimetric Imaging

• Mission: collect multi-state polarized images

• Hardware Configuration:– Three MS cameras

– The Pan Sharpening camera

– Filter Configuration as shown:

• Data Product(s):

Filter Camera ConfigurationMS #1 Linear PolarizerMS #2 Linear PolarizerMS #3 Circular PolarizerPan AR (400 – 900nm)LWIR N/A

MS #1Linear Polarizer(0 Degrees)

MS #2Linear Polarizer(45 Degrees)

MS #3Circular Polarizer

Pan Sharpen I0(un-polarized)

Fused Image Products

S0 Un-polarized

Degree of Linear Polarization (DOLP)

Degree of CircularPolarization (DOCP)

Degree ofPolarization (DOP)

Register

CombineStokesVectors

GenerateStokesVectors

S0=1/2 I0

S1=MS1-1/2 I0

S2=MS3-1/2 I0

0

21

S

SSDOLP

22

0

3

S

SDOCP

0

321

S

SSSDOP

222

Register

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WASP-lite Programmatics

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Budget (material only)Item Qty Unit Price Total Price Source

Sensor Subsystem Assembly (SSA)Sony XCL-V500 3 972 2916 per www.ccddirect.com websiteSony XCL-U1000 1 3195 3195 per www.ccddirect.com websiteDRS E3500 IR Bolometer Camera w/11 mm lens 1 11000 11000 per quote from IRcameras (vendor)Cinegon 2/3" 8.0mm F1.4 C-Mount (Compact) 21-041823 3 863 2589 per www.rmassa.com websiteCinegon 2/3" 12.0mm F1.4 C-Mount (Compact) 21-022892 1 819 819 per www.rmassa.com websiteFilters (RGB, polarization, K emission line) 1 2000 2000 gusesstimateBEI Systron C-MIGITS III 1 25000 25000GPS Antenna 1 200 200Camera Mounts and Enclosure 1 2000 2000Cables (SSA to ESA) 1 1000 1000

Total 50719

Electronics Subsystem Assembly (ESA)Cyber Research Computer 1 1500 1500Coreco X64 CL Dual 2 1500 3000Power Supply 1 500 50019" Rack Shelf 1 400 40019" Electronics Rack 1 500 500Miscellaneous Brackets 1 500 500Cables (ESA to Aircraft) 1 1000 1000

Total 7400

Grand Total 58119

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Schedule

18 - 22 25 - 29 2 - 6 9 - 13 16 - 20 23 - 27 30 - 3 6 - 10 13 - 17 20 - 24 27 - 1 4 - 8 11 - 15 18 - 22 25 - 29

Procurement

Detailed Design

Fabrication

Integration

Final Test and Evaluation

First Flight

April May June July